diff --git a/README.md b/README.md index 864c7673..983c51dc 100644 --- a/README.md +++ b/README.md @@ -14,7 +14,7 @@ **Robot Control Stack (RCS)** is a flexible, native [Gymnasium](https://gymnasium.farama.org/) wrapper-based robot control interface designed specifically for modern robot learning and Vision-Language-Action (VLA) models. -It completely unifies **MuJoCo simulation** and real-world physical robot control into a single, seamless API. Currently, RCS natively supports five robots out-of-the-box: **Franka FR3/Panda, xArm7, UR5e, SO101, and I2RT YAM.** +It completely unifies **MuJoCo simulation** and real-world physical robot control into a single, seamless API. Currently, RCS natively supports six robots out-of-the-box: **Franka FR3/Panda, xArm7, UR5e, SO101, I2RT YAM, and Flexiv Rizon 4s.** ![RCS Demo](https://raw.githubusercontent.com/RobotControlStack/robotcontrolstack.github.io/refs/heads/master/static/videos/grid.webp) diff --git a/THIRD_PARTY_ASSET_LICENSES.md b/THIRD_PARTY_ASSET_LICENSES.md index 852be8cf..40e5704b 100644 --- a/THIRD_PARTY_ASSET_LICENSES.md +++ b/THIRD_PARTY_ASSET_LICENSES.md @@ -23,6 +23,16 @@ The following directories contain third-party assets: - `assets/grippers/robotiq_2f85/` Origin: MuJoCo Menagerie `robotiq_2f85/` License: BSD-style license reproduced below +- `assets/robots/rizon4s/` + Origin: MuJoCo Menagerie `flexiv_rizon4s/` + License: Apache License 2.0 +- `assets/robots/yam/` + Origin: MuJoCo Menagerie `i2rt_yam/` + License: MIT license reproduced below +- `assets/grippers/flexiv_grav/` + Origin: meshes from Flexiv Robotics `flexiv_description` (https://github.com/flexivrobotics/flexiv_description), + MJCF generated from its URDF by `assets/grippers/flexiv_grav/convert_from_urdf.py` + License: Apache License 2.0 - `assets/cameras/d405/` Origin: Intel RealSense D405 camera assets distributed via MuJoCo Menagerie RealSense assets License: Apache License 2.0 notice reproduced below for the upstream Intel RealSense asset family @@ -319,3 +329,29 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ``` + +## I2RT YAM + +```text +MIT License + +Copyright (c) 2025 i2rt robotics + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +``` diff --git a/assets/cameras/d405/d405.xml b/assets/cameras/d405/d405.xml index 43f4ea32..5ad60fef 100644 --- a/assets/cameras/d405/d405.xml +++ b/assets/cameras/d405/d405.xml @@ -41,7 +41,7 @@ np.float64(57.9293391321625) --> [ 0. 0. 1. 0. ]] --> - + diff --git a/assets/grippers/flexiv_grav/assets/base.stl b/assets/grippers/flexiv_grav/assets/base.stl new file mode 100644 index 00000000..e94004b8 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/base.stl differ diff --git a/assets/grippers/flexiv_grav/assets/base_collision.stl b/assets/grippers/flexiv_grav/assets/base_collision.stl new file mode 100644 index 00000000..9f49772d Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/base_collision.stl 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00000000..04443fb7 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/outer_bar_collision.stl differ diff --git a/assets/grippers/flexiv_grav/convert_from_urdf.py b/assets/grippers/flexiv_grav/convert_from_urdf.py new file mode 100755 index 00000000..20555e2d --- /dev/null +++ b/assets/grippers/flexiv_grav/convert_from_urdf.py @@ -0,0 +1,427 @@ +#!/usr/bin/env python3 +# /// script +# requires-python = ">=3.10" +# dependencies = ["mujoco>=3.3", "xacro"] +# /// +"""Generate the Flexiv Grav (GN-01) MJCF from Flexiv's official URDF description. + +Pipeline (every step is deterministic, no hand edits of the output): + +1. Fetch ``grav_macro.xacro``, the license and the Grav meshes from + https://github.com/flexivrobotics/flexiv_description at a pinned commit + (or take them from a local checkout passed via ``--src``). +2. Copy the meshes into ``/assets``. Collision meshes get a ``_collision`` + suffix because MuJoCo names meshes by file stem and would otherwise merge the + visual and collision ``base.stl`` into one mesh. +3. Expand the xacro macro into a URDF with ``xacro`` and rewrite it: point the + mesh paths at ``/assets``, drop the flange parent link so the gripper + base becomes the root, drop the virtual ``finger_width_joint`` (MuJoCo has no + mimic joints) and turn the massless TCP links into recorded frames. +4. Import the URDF with ``mujoco.MjSpec`` and post-process it: default classes, + realistic link masses, pad boxes on the finger tips, TCP sites, contact + excludes, joint equality constraints replacing the URDF mimic joints, a + tendon splitting the actuation between both knuckles and a position actuator + whose control input is the finger opening width in meters. +5. Write ``/flexiv_grav.xml`` plus ``scene.xml`` and ``LICENSE``. + +Usage: + uv run assets/grippers/flexiv_grav/convert_from_urdf.py --out mujoco_menagerie/flexiv_grav + uv run mujoco_menagerie/format_xml.py --write mujoco_menagerie/flexiv_grav/*.xml +""" + +from __future__ import annotations + +import argparse +import pathlib +import shutil +import tempfile +import urllib.request +import xml.etree.ElementTree as ET + +import mujoco +import numpy as np +import xacro + +UPSTREAM_REPO = "flexivrobotics/flexiv_description" +UPSTREAM_COMMIT = "8b8452105c5faf088f456db18b0e2581b16fc630" # branch humble, 2026-09-03 +UPSTREAM_RAW = f"https://raw.githubusercontent.com/{UPSTREAM_REPO}/{UPSTREAM_COMMIT}/" +UPSTREAM_FILES = [ + "LICENSE", + "urdf/common/grav_macro.xacro", + "meshes/Grav/visual/base.stl", + "meshes/Grav/visual/outer_bar.stl", + "meshes/Grav/visual/inner_bar.stl", + "meshes/Grav/visual/finger_mount.stl", + "meshes/Grav/visual/finger_tip.obj", + "meshes/Grav/collision/base.stl", + "meshes/Grav/collision/outer_bar.stl", + "meshes/Grav/collision/inner_bar.stl", + "meshes/Grav/collision/finger_tip.stl", +] + +MODEL_NAME = "flexiv_grav" +ROOT_CLASS = "grav" + +# The URDF drives the linkage through a virtual prismatic joint (finger width in meters) with +# knuckle_angle = WIDTH_GAIN * width + WIDTH_OFFSET. We keep this mapping for the actuator. +WIDTH_GAIN = 9.404 +WIDTH_OFFSET = -0.155 +MAX_WIDTH = 0.1 +# Position controller gains on the tendon length (= knuckle angle) and the force saturation. +KP = 20.0 +KV = 1.0 +FORCERANGE = 5.0 + +# The URDF assigns 1e-4 kg to the moving links, which is too light for a stable simulation. +# Masses below are rough estimates that keep the total at the 1.186 kg of the URDF. +LINK_INERTIALS = { + "base": {"mass": 1.05, "ipos": (0, 0, 0.057), "inertia": (3e-3, 3e-3, 1e-3)}, + "left_outer_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "left_inner_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "left_finger_mount": {"mass": 0.01, "ipos": (0, 0.008, 0.01), "inertia": (2e-6, 2e-6, 1e-6)}, + "left_finger_tip": {"mass": 0.01, "ipos": (0, 0.005, 0.018), "inertia": (2e-6, 2e-6, 1e-6)}, + "right_outer_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "right_inner_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "right_finger_mount": {"mass": 0.01, "ipos": (0, 0.008, 0.01), "inertia": (2e-6, 2e-6, 1e-6)}, + "right_finger_tip": {"mass": 0.01, "ipos": (0, 0.005, 0.018), "inertia": (2e-6, 2e-6, 1e-6)}, +} + +# Massless URDF links that only define frames. They become sites on their parent body. +TCP_LINKS = ["grav_tcp", "closed_fingers_tcp", "left_finger_tcp", "right_finger_tcp"] + +# Thin boxes on the inner face of the finger tips, like the pads of the Menagerie Robotiq 2F-85. +# The finger tip collision hull spans y in [-0.006, 0.0135] and z in [0, 0.036]. +PAD_BOXES = [ + ("pad1", (0, 0.0125, 0.009), (0.007, 0.001, 0.009)), + ("pad2", (0, 0.0125, 0.027), (0.007, 0.001, 0.009)), +] + +CONTACT_EXCLUDES = [ + ("base", "left_outer_bar"), + ("base", "left_inner_bar"), + ("base", "right_outer_bar"), + ("base", "right_inner_bar"), + ("left_outer_bar", "left_inner_bar"), + ("right_outer_bar", "right_inner_bar"), + ("left_inner_bar", "left_finger_tip"), + ("right_inner_bar", "right_finger_tip"), +] + +# (joint, reference joint, polynomial coefficient): joint = coef * reference. These replace the +# tags of the URDF. +JOINT_COUPLINGS = [ + ("right_outer_knuckle_joint", "left_outer_knuckle_joint", 1.0), + ("left_inner_knuckle_joint", "left_outer_knuckle_joint", 1.0), + ("right_inner_knuckle_joint", "right_outer_knuckle_joint", 1.0), + ("left_inner_finger_joint", "left_outer_knuckle_joint", -1.0), + ("right_inner_finger_joint", "right_outer_knuckle_joint", -1.0), +] + +SOLIMP = (0.95, 0.99, 0.001, 0.5, 2.0) +SOLREF = (0.005, 1.0) + +XACRO_WRAPPER = """ + + + + + + +""" + +SCENE_XML = """ + + + + +""" + +XML_COMMENTS = { + " ": ( + " \n" + ), + " ": ( + " \n" + ), + " ": ( + " \n" + ), +} + + +def fetch_upstream(src: pathlib.Path) -> None: + """Downloads the pinned upstream files that are not present in ``src`` yet.""" + for rel in UPSTREAM_FILES: + dst = src / rel + if dst.is_file(): + continue + dst.parent.mkdir(parents=True, exist_ok=True) + url = UPSTREAM_RAW + rel + print(f"fetching {url}") + with urllib.request.urlopen(url, timeout=60) as response: + dst.write_bytes(response.read()) + + +def copy_meshes(src: pathlib.Path, assets: pathlib.Path) -> None: + assets.mkdir(parents=True, exist_ok=True) + for rel in UPSTREAM_FILES: + path = pathlib.Path(rel) + if path.parts[0] != "meshes": + continue + name = path.name if path.parts[2] == "visual" else f"{path.stem}_collision{path.suffix}" + shutil.copyfile(src / rel, assets / name) + + +def expand_xacro(src: pathlib.Path, work: pathlib.Path) -> str: + wrapper = work / f"{MODEL_NAME}.urdf.xacro" + wrapper.write_text(XACRO_WRAPPER.format(model=MODEL_NAME, macro=src / "urdf/common/grav_macro.xacro")) + doc = xacro.process_file(str(wrapper), mappings={"mesh_prefix_path": f"{src}/"}) + return doc.toprettyxml(indent=" ") + + +def rewrite_urdf(urdf_xml: str, assets: pathlib.Path) -> tuple[str, dict[str, tuple[str, np.ndarray]]]: + """Adapts the URDF for the MuJoCo importer and returns it with the removed TCP frames.""" + root = ET.fromstring(urdf_xml) + links = {link.get("name"): link for link in root.findall("link")} + joints = {joint.get("name"): joint for joint in root.findall("joint")} + + for mesh in root.iter("mesh"): + path = pathlib.Path(mesh.get("filename")) + collision = path.parent.name == "collision" + mesh.set("filename", path.name if not collision else f"{path.stem}_collision{path.suffix}") + + # The gripper base becomes the root body. + root.remove(links.pop("flange")) + root.remove(joints.pop("gripper_base_joint")) + + # The virtual width joint has no physical counterpart and is replaced by the actuator mapping. + root.remove(joints.pop("finger_width_joint")) + root.remove(links.pop("unused_finger_width_link")) + + tcps: dict[str, tuple[str, np.ndarray]] = {} + for joint in list(joints.values()): + child = joint.find("child").get("link") + if child not in TCP_LINKS: + continue + xyz = np.array([float(v) for v in joint.find("origin").get("xyz").split()]) + tcps[child] = (joint.find("parent").get("link"), xyz) + root.remove(joint) + root.remove(links.pop(child)) + + mj = ET.SubElement(root, "mujoco") + ET.SubElement(mj, "compiler", meshdir=str(assets), discardvisual="false", fusestatic="false", strippath="false") + return ET.tostring(root, encoding="unicode"), tcps + + +def build_spec(urdf: pathlib.Path, tcps: dict[str, tuple[str, np.ndarray]]) -> mujoco.MjSpec: + spec = mujoco.MjSpec.from_file(str(urdf)) + spec.modelname = MODEL_NAME + spec.compiler.autolimits = True + spec.option.cone = mujoco.mjtCone.mjCONE_ELLIPTIC + spec.option.impratio = 10 + + spec.add_material(name="black", rgba=(0.149, 0.149, 0.149, 1)) + + # Default classes. Values set on the elements below must match these for the XML writer to + # omit them, so the same constants are used in both places. + mesh_scale = (0.001, 0.001, 0.001) # upstream meshes are in millimeters + # The URDF rotates every mesh by 90 degrees about z. Baking the inverse into the mesh reference + # frame moves the rotation from the geoms into the mesh assets. + mesh_refquat = (0.7071068, 0, 0, -0.7071068) + identity = (1, 0, 0, 0) + main = spec.default + grav = spec.add_default(ROOT_CLASS, main) + grav.mesh.scale = mesh_scale # refquat is not allowed in default classes, it is set per mesh + grav.actuator.biastype = mujoco.mjtBias.mjBIAS_AFFINE + grav.joint.axis = (1, 0, 0) + grav.joint.armature = 0.001 + grav.joint.damping = (0.02, 0, 0) # per-DOF vector in MjSpec, hinges use the first entry + grav.joint.solimp_limit = SOLIMP + grav.joint.solref_limit = SOLREF + knuckle = spec.add_default("knuckle", grav) + knuckle.joint.range = (WIDTH_OFFSET, WIDTH_GAIN * MAX_WIDTH + WIDTH_OFFSET) + finger = spec.add_default("finger", grav) + finger.joint.range = (-knuckle.joint.range[1], -knuckle.joint.range[0]) + visual = spec.add_default("visual", grav) + visual.geom.type = mujoco.mjtGeom.mjGEOM_MESH + visual.geom.contype = 0 + visual.geom.conaffinity = 0 + visual.geom.group = 2 + visual.geom.material = "black" + visual.geom.density = 0 + collision = spec.add_default("collision", grav) + collision.geom.type = mujoco.mjtGeom.mjGEOM_MESH + collision.geom.group = 3 + pad = spec.add_default("pad", collision) + pad.geom.type = mujoco.mjtGeom.mjGEOM_BOX + pad.geom.friction = (1, 0.005, 0.0001) + pad.geom.priority = 1 + pad.geom.solimp = SOLIMP + pad.geom.solref = (0.004, 1) + pad.geom.rgba = (0.3, 0.3, 0.3, 1) + + for mesh in spec.meshes: + mesh.file = pathlib.Path(mesh.file).name + mesh.classname = grav + mesh.scale = mesh_scale + mesh.refquat = mesh_refquat + + base = spec.body("grav_base_link") + base.name = "base" + base.childclass = ROOT_CLASS + + for body in spec.bodies: + if body.name in LINK_INERTIALS: + values = LINK_INERTIALS[body.name] + body.explicitinertial = True + body.mass = values["mass"] + body.ipos = values["ipos"] + body.iquat = (1, 0, 0, 0) + body.fullinertia = [float("nan")] * 6 # NaN marks unset, the URDF importer filled it + body.inertia = values["inertia"] + + for joint in spec.joints: + joint.classname = knuckle if joint.range[1] > 0.5 else finger + joint.axis = grav.joint.axis + joint.armature = grav.joint.armature + joint.damping = grav.joint.damping + joint.solimp_limit = SOLIMP + joint.solref_limit = SOLREF + + for geom in spec.geoms: + is_visual = geom.contype == 0 and geom.conaffinity == 0 + cls = visual if is_visual else collision + geom.classname = cls + geom.group = cls.geom.group + geom.quat = identity # the URDF rotation is now part of the mesh + if is_visual: + geom.density = 0 + geom.material = "black" # the finger tip mesh is the black plastic clip, like the rest + else: + geom.density = main.geom.density + + for side in ["left", "right"]: + tip = spec.body(f"{side}_finger_tip") + for suffix, pos, size in PAD_BOXES: + geom = tip.add_geom(default=pad, name=f"{side}_{suffix}", pos=pos, size=size) + geom.type = mujoco.mjtGeom.mjGEOM_BOX + + for name, (parent, xyz) in tcps.items(): + body = spec.body("base" if parent == "grav_base_link" else parent) + body.add_site(name=name, pos=xyz, group=5, size=(0.002, 0.002, 0.002)) + + for body1, body2 in CONTACT_EXCLUDES: + spec.add_exclude(bodyname1=body1, bodyname2=body2) + + for joint, reference, coef in JOINT_COUPLINGS: + eq = spec.add_equality(name1=joint, name2=reference, objtype=mujoco.mjtObj.mjOBJ_JOINT) + eq.type = mujoco.mjtEq.mjEQ_JOINT + eq.data[:5] = (0, coef, 0, 0, 0) + eq.solimp = SOLIMP + eq.solref = SOLREF + + tendon = spec.add_tendon(name="split") + tendon.wrap_joint("left_outer_knuckle_joint", 0.5) + tendon.wrap_joint("right_outer_knuckle_joint", 0.5) + + actuator = spec.add_actuator(default=grav, name="fingers_actuator") + actuator.trntype = mujoco.mjtTrn.mjTRN_TENDON + actuator.target = "split" + actuator.gaintype = mujoco.mjtGain.mjGAIN_FIXED + actuator.biastype = mujoco.mjtBias.mjBIAS_AFFINE + actuator.gainprm[0] = KP * WIDTH_GAIN + actuator.biasprm[:3] = (KP * WIDTH_OFFSET, -KP, -KV) + actuator.ctrlrange = (0, MAX_WIDTH) + actuator.forcerange = (-FORCERANGE, FORCERANGE) + return spec + + +def add_comments(xml: str) -> str: + for anchor, comment in XML_COMMENTS.items(): + assert xml.count(f"\n{anchor}\n") == 1, anchor + xml = xml.replace(f"\n{anchor}\n", f"\n{comment}{anchor}\n", 1) + return xml + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) + parser.add_argument("--out", type=pathlib.Path, required=True, help="output model directory") + parser.add_argument( + "--src", + type=pathlib.Path, + default=None, + help="flexiv_description checkout; defaults to a cache directory filled from GitHub at the pinned commit", + ) + parser.add_argument("--work", type=pathlib.Path, default=None, help="keep intermediate URDF files here") + args = parser.parse_args() + + src = args.src or pathlib.Path(tempfile.gettempdir()) / f"flexiv_description-{UPSTREAM_COMMIT[:12]}" + fetch_upstream(src) + work = args.work or pathlib.Path(tempfile.mkdtemp(prefix="flexiv_grav_")) + work.mkdir(parents=True, exist_ok=True) + out = args.out + assets = out / "assets" + + copy_meshes(src, assets) + urdf_xml, tcps = rewrite_urdf(expand_xacro(src, work), assets.resolve()) + urdf = work / f"{MODEL_NAME}.urdf" + urdf.write_text(urdf_xml) + + spec = build_spec(urdf, tcps) + spec.compile() # fail early on model errors, mesh paths are still absolute here + spec.modelfiledir = str(out.resolve()) # to_xml recompiles, so relative mesh paths must resolve + spec.compiler.meshdir = "assets" + (out / f"{MODEL_NAME}.xml").write_text(add_comments(spec.to_xml())) + (out / "scene.xml").write_text(SCENE_XML) + shutil.copyfile(src / "LICENSE", out / "LICENSE") + print(f"wrote {out / f'{MODEL_NAME}.xml'} (intermediate files in {work})") + + +if __name__ == "__main__": + main() diff --git a/assets/grippers/flexiv_grav/flexiv_grav.xml b/assets/grippers/flexiv_grav/flexiv_grav.xml new file mode 100644 index 00000000..026153bb --- /dev/null +++ b/assets/grippers/flexiv_grav/flexiv_grav.xml @@ -0,0 +1,153 @@ + + + + diff --git a/assets/objects/rizon_d405_wrist_mount/README.md b/assets/objects/rizon_d405_wrist_mount/README.md new file mode 100644 index 00000000..15f686e0 --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/README.md @@ -0,0 +1,94 @@ +# Rizon 4s D405 wrist mount + +3D-printable mount for an Intel RealSense D405 on a Flexiv Rizon 4s. A curved rail is screwed to +the accessory pocket on the front of the wrist link (link7), 78 mm above the tool flange, runs +down the link past the flange and the Grav skirt and carries the camera on an inclined shelf (two side webs and a +centre web) on the front of the gripper (the side facing away from the robot base in the rcs home pose), tilted +20° towards the finger tips. The gripper stays bolted directly to the flange, so gripper and TCP +offsets are unchanged. The camera sits below the shoulder of the Grav housing, so no reach is +added along the gripper axis. + +Files: + +- `rizon_d405_wrist_mount.scad` – parametric OpenSCAD source (all dimensions in mm) +- `build_meshes.py` – regenerates the STLs with OpenSCAD (`uv run --with networkx --with lxml python build_meshes.py`) +- `assets/rizon_d405_wrist_mount.stl` – printable part, also the MuJoCo visual mesh +- `assets/rizon_d405_wrist_mount_collision.stl` – convex lower bracket used as the MuJoCo collision mesh +- `print/` – the part rotated onto its flat side face, as STL and 3MF, for the slicer +- `rizon_d405_wrist_mount.xml` – MJCF, registered as `OBJECT_PATHS["rizon_d405_wrist_mount"]` + +A spacer-plate variant that goes between flange and Grav lives in `../rizon_grav_d405_plate_mount`. + +## Mounting interface + +The wrist link has three identical accessory pockets 78 mm above the flange face: on the front, +on the back and on one side (positions from the Menagerie link7 mesh, dimensions measured on the +robot). Each is a flat milled into the cylinder, 37.5 mm wide (chord), 22 mm tall and 3.5 mm +deep at the centre, with two M5 threads 18 mm apart, 5 mm deep and perpendicular to the flat, +and an 8 mm alignment hole, 4 mm deep, in the middle; two deep curved pockets flank it. The rail +carries a 35 x 21.4 mm block on its inside that fills the pocket and rests on the flat (1.25 mm +clearance to the pocket sides, 0.3 mm top and bottom, 0.2 mm stand-off that the screws close), +and a Ø7.7 mm pin, 3.7 mm long with a chamfered tip and a 45° V underneath for printing, that +drops 3.5 mm into the alignment hole. The rail itself is 46 mm wide with flat side faces (planes +at y = ±23, not radial cuts), its inner surface follows the slight taper of the link (Ø98.0 +near the flange, Ø99.2 at the pocket) with a 0.3 mm gap; over the pocket it spans the rims of +the curved side pockets, which are recessed, so nothing touches there. + +## Frames + +Everything is defined in the Rizon attachment-site (flange) frame: z points out of the flange +towards the fingers, the Grav fingers open along y, the camera sits on the -x side, the wrist +link occupies z < 0. In rcs the mount is placed with `DEFAULT_TRANSFORMS["RIZON_D405_WRIST_MOUNT"]` +(identity) and the D405 body with `RIZON_D405_WRIST_CAMERA`: front glass centre at +(-65, 0, 52) mm, optical axis 20° off the flange z axis towards the fingers, image up pointing +away from the gripper so that the fingers show at the bottom of the image, and the stereo +baseline along flange y. The D405 housing (see `assets/cameras/d405/d405.xml`) has its two M4 +threads on the back along the baseline and the USB-C port on the side face at the end of the +baseline, so the plug points sideways along the gripper and needs no extra room. + +## Hardware + +- 2x M5x12 countersunk hex socket screws (DIN 7991, length includes the head), perpendicular to + the flat, 18 mm apart. The rail is 10.6 mm thick at the screws (7.5 mm rail + 3.5 mm block + minus the gaps), so the head seats are spot-faced 2.6 mm deep (Ø10.6) above the 90° + countersinks: the screws then engage 4.0 mm of the 5 mm deep threads and stop 1 mm short of the + bottom. M5x16 would bottom out, M5x8 does not reach. `screw_len` and `engagement` in the + `.scad` set the spot-face depth. +- 2x M4x12 countersunk hex socket screws (DIN 7991) for the camera, driven from below the shelf + into the two M4 threads on the back of the D405 (20 mm apart along the baseline, 5.5 mm deep). + The shelf is 7.5 mm thick with 90° countersinks, so the screws engage 4.5 mm and stop 1 mm + short of the bottom; M4x8 would only engage 0.5 mm, M4x16 bottoms out. The middle between the + two side webs is open for the screwdriver. +- Any USB-C cable; the port faces sideways (along the finger opening direction). + +## Printing + +`print/` holds the part rotated onto its side (`rizon_d405_wrist_mount_print_oriented.stl` and +the same as `rizon_d405_wrist_mount.3mf`). Bambu printers only print sliced files, so open one of +them in Bambu Studio, slice, and use *Export plate sliced file* (`.gcode.3mf`) for the USB stick. + +Orientation: print it lying on one of its two flat side faces (as in the files in `print/`), not +on the curved rail. The rail is cut by the same two planes as the webs and the shelf, so the +part rests on a full 46 x 133 mm face and needs no support: both curved faces of the rail, the +flat block, the camera contact face and all holes print as walls, the pin has a 45° V on its +underside, and the layers run along the rail, i.e. along the bending load of the camera. The +only horizontal undersides are the centre web and the upper side web over the two 16 mm gaps +between the webs; they are anchored on three sides (rail, shelf, sloped web face) and print as +short bridges, so supports can stay off. + +Putting the concave face on the bed would need support on the mating surface and its scars +would eat the 0.3 mm gap; the convex face down would need support everywhere. + +Settings for PLA: 0.2 mm layers, 4 walls, 4 top/bottom layers, 25–40 % gyroid or grid infill +(the part is mostly walls anyway, infill matters little), no brim needed. The part is about +50 cm³, roughly 60 g in PLA. PETG is the better choice if the arm gets warm or the mount stays +on for long; use the same settings. + +## Design references + +The wrist link envelope (tapered 98–99.2 mm cylinder, accessory pockets 78 mm above the flange) +and the Grav envelope (86.6 mm skirt, 84 mm body) were measured from the meshes in +`assets/robots/rizon4s` and `assets/grippers/flexiv_grav`; the D405 dimensions +(42 x 42 x 23 mm, two M4 threads on the back 20 mm apart along the baseline, USB-C on the side, +1/4-20 on the bottom) from the Intel D400 series datasheet and the D405 mesh in +`assets/cameras/d405`. diff --git a/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount.stl b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount.stl new file mode 100644 index 00000000..a120d422 Binary files /dev/null and b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount.stl differ diff --git a/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount_collision.stl b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount_collision.stl new file mode 100644 index 00000000..5104bdc8 Binary files /dev/null and b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount_collision.stl differ diff --git a/assets/objects/rizon_d405_wrist_mount/build_meshes.py b/assets/objects/rizon_d405_wrist_mount/build_meshes.py new file mode 100644 index 00000000..c5e5a1ce --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/build_meshes.py @@ -0,0 +1,59 @@ +"""Builds the STL meshes of the Rizon D405 wrist mount from the OpenSCAD source. + +Requires the `openscad` binary (tested with 2021.01). The visual mesh is the printable part, +the collision mesh is the convex lower bracket without the rail: the rail hugs the wrist link, so +its convex hull would cut into the link. + +Also writes print-ready copies to `print/`: the part rotated onto its side web (the recommended +print orientation, see README) as STL and, if `networkx` and `lxml` are available for trimesh, as 3MF for +Bambu Studio / OrcaSlicer. +""" + +import subprocess +from pathlib import Path + +import numpy as np +import trimesh + +HERE = Path(__file__).parent +SCAD = HERE / "rizon_d405_wrist_mount.scad" +ASSETS = HERE / "assets" +PRINT = HERE / "print" + +MESHES = { + "rizon_d405_wrist_mount.stl": "visual", + "rizon_d405_wrist_mount_collision.stl": "collision", +} + + +def main(): + ASSETS.mkdir(exist_ok=True) + for filename, part in MESHES.items(): + out = ASSETS / filename + subprocess.run( + ["openscad", "-o", str(out), "--export-format", "binstl", "-D", f'part="{part}"', str(SCAD)], + check=True, + ) + print(f"wrote {out}") + export_print_files() + + +def export_print_files(): + PRINT.mkdir(exist_ok=True) + mesh = trimesh.load(ASSETS / "rizon_d405_wrist_mount.stl", force="mesh") + # lie on the side web: flange-frame y becomes the print z axis + mesh.apply_transform(trimesh.transformations.rotation_matrix(np.deg2rad(90), [1, 0, 0])) + mesh.apply_translation(-mesh.bounds[0]) + out = PRINT / "rizon_d405_wrist_mount_print_oriented.stl" + mesh.export(out) + print(f"wrote {out}") + try: + out = PRINT / "rizon_d405_wrist_mount.3mf" + mesh.export(out) + print(f"wrote {out}") + except ImportError as e: + print(f"skipped 3mf export ({e}); run with `uv run --with networkx --with lxml python build_meshes.py`") + + +if __name__ == "__main__": + main() diff --git a/assets/objects/rizon_d405_wrist_mount/print/rizon_d405_wrist_mount.3mf b/assets/objects/rizon_d405_wrist_mount/print/rizon_d405_wrist_mount.3mf new file mode 100644 index 00000000..fdecb354 Binary files /dev/null and b/assets/objects/rizon_d405_wrist_mount/print/rizon_d405_wrist_mount.3mf differ diff --git a/assets/objects/rizon_d405_wrist_mount/print/rizon_d405_wrist_mount_print_oriented.stl b/assets/objects/rizon_d405_wrist_mount/print/rizon_d405_wrist_mount_print_oriented.stl new file mode 100644 index 00000000..8ca8eda8 Binary files /dev/null and b/assets/objects/rizon_d405_wrist_mount/print/rizon_d405_wrist_mount_print_oriented.stl differ diff --git a/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.scad b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.scad new file mode 100644 index 00000000..8409976e --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.scad @@ -0,0 +1,232 @@ +// Wrist mount for an Intel RealSense D405 on a Flexiv Rizon 4s, screwed to the accessory pocket +// on the front of the wrist link (link7). The gripper stays bolted directly to the flange, so no +// gripper or TCP offset changes. +// +// The Rizon wrist link is a slightly tapered ~98 mm cylinder. 78 mm above the tool flange it has +// three accessory pockets (front, back and one side): a flat milled into the cylinder, 37.5 mm +// wide, 22 mm tall and 3.5 mm deep at the centre, with two M5 threads 18 mm apart (5 mm deep, +// perpendicular to the flat) and an 8 mm alignment hole, 4 mm deep, in the middle, flanked by +// two deep curved pockets. A curved rail sits along the front of the link between the curved +// pockets; a flat block on its inside fills the pocket and rests on the flat, a pin locates in +// the alignment hole and two countersunk M5x12 screws hold it. The rail runs down past the +// flange and the Grav skirt and carries the camera on an inclined shelf, tilted towards the +// finger tips, connected to the rail by two side webs and a centre web. +// +// Everything is expressed in the Rizon attachment-site (flange) frame in millimetres: z points +// out of the flange towards the fingers, the Grav fingers open along y, and the camera sits on +// the -x side, which faces away from the robot base in the rcs home pose. The wrist link +// occupies z < 0. +// +// Build with `python build_meshes.py` (runs OpenSCAD for the visual and collision STLs). +// Wrist link and Grav envelopes were measured from the meshes in assets/robots/rizon4s and +// assets/grippers/flexiv_grav, the D405 from assets/cameras/d405 and the Intel datasheet. + +part = "visual"; // "visual": full part, "collision": convex lower bracket for MuJoCo +$fn = 96; + +// ---- Wrist link (link7) --------------------------------------------------------------- +link_r_low = 49.0; // link radius near the flange (z > -40) +link_r_high = 49.6; // link radius at the top end of the rail (z = rail_z0) +pocket_z = -77.8; // accessory pocket centre, 77.8 mm above the flange face +pocket_depth = 3.5; // the flat is this deep below the cylinder at its centre +pocket_w = 37.5; // chord width of the flat +pocket_h = 22; // height of the flat along the link +flat_r = link_r_high - pocket_depth; // distance of the flat from the link axis +flat_gap = 0.2; // block face stands off the flat by this much before the screws pull it in +block_side_clearance = 1.25; +block_z_clearance = 0.3; +hole_spacing = 18; // the two M5 threads, perpendicular to the flat, 5 mm deep +screw_d = 5.5; // M5 clearance +csk_d = 10.6; // 90 deg countersink for DIN 7991 M5 heads (dk = 10) plus clearance +screw_len = 12; // M5x12 DIN 7991 (length includes the head) +engagement = 4; // thread engagement to aim for; the head seat is spot-faced to get it +pin_d = 8 - 0.3; // alignment pin, 8 mm hole with radial clearance +pin_h = 4 - 0.5 + flat_gap; // protrusion from the block face: 4 mm hole depth, 0.5 mm clearance +pin_chamfer = 0.5; +pin_v_bottom = true; // 45 deg V on the -y side of the pin so that it prints without support + // when the part lies on its -y side face (see README / print/) + +// ---- Rail ------------------------------------------------------------------------------- +rail_gap = 0.3; +rail_t = 7.5; +rail_w = 46; // same width as the shelf; the side faces are flat (planes y = +-23) so the + // whole part has two flat faces and prints lying on one of them without support +rail_z0 = -92; // top end, 14 mm above the pocket +rail_z1 = 14; // bottom end, next to the Grav body just above the camera shelf +web_t = 4; // two side webs support the camera shelf +web_center_t = 6; // centre web between the two camera screws (which sit at y = +-10) +hull_z0 = -4; // webs and collision hull start where the link has narrowed to the flange neck + +// ---- Camera: Intel RealSense D405, 42 x 42 x 23 mm ------------------------------------ +cam_w = 42; +cam_h = 42; +cam_d = 23; +cam_tol = 0.15; +cam_alpha = 20; // tilt of the optical axis towards the fingers [deg] +cam_o = [-65, 0, 52]; // front glass centre in the flange frame [mm] +shelf_t = 7.5; // M4x12 DIN 7991 through it: 4.5 mm engagement in the 5.5 mm threads +shelf_margin = 2; // shelf and rim overhang around the camera footprint +rim_h = 3; +m4_hole_d = 4.5; // two M4 threads on the camera back, 20 mm apart along the baseline, 5.5 mm deep +m4_spacing = 20; +m4_csk_d = 8.6; // 90 deg countersink for DIN 7991 M4 heads (dk = 8) plus clearance + +// Camera frame in the flange frame (the body frame of assets/cameras/d405): x is the optical axis, +// y the housing top (image up), z the stereo baseline. Image up points away from the gripper so +// that the fingers show at the bottom of the image; the baseline, the two M4 threads on the back +// and the USB-C port (on the -z face) run along flange y, so the plug points sideways, clear of +// the gripper. +ca = cam_alpha; +cam_x = [sin(ca), 0, cos(ca)]; +cam_y = [-cos(ca), 0, sin(ca)]; +cam_z = [0, -1, 0]; +cam_mat = [ + [cam_x[0], cam_y[0], cam_z[0], cam_o[0]], + [cam_x[1], cam_y[1], cam_z[1], cam_o[1]], + [cam_x[2], cam_y[2], cam_z[2], cam_o[2]], + [0, 0, 0, 1], +]; + +module cam_frame() { + multmatrix(cam_mat) children(); +} + +// Inner radius of the rail: follows the taper of the link with a constant gap. +function rail_r_in(z) = rail_gap + link_r_low + (link_r_high - link_r_low) * (z - rail_z1) / (rail_z0 - rail_z1); + +// Conical shell hugging the front of the link, cut to rail_w by two planes parallel to the +// x-z plane (not radially), so that its side faces are coplanar with the webs and the shelf. +module rail() { + intersection() { + rotate([0, 0, 180 - 60]) + rotate_extrude(angle = 120) + polygon([ + [rail_r_in(rail_z1), rail_z1], + [rail_r_in(rail_z1) + rail_t, rail_z1], + [rail_r_in(rail_z0) + rail_t, rail_z0], + [rail_r_in(rail_z0), rail_z0], + ]); + translate([-200, -rail_w / 2, -200]) cube([400, rail_w, 400]); + } +} + +// Flat block on the inside of the rail that fills the pocket and rests on its flat. +module pocket_block() { + r_in = rail_r_in(pocket_z); + translate([-(r_in + 1), -(pocket_w / 2 - block_side_clearance), pocket_z - (pocket_h / 2 - block_z_clearance)]) + cube([r_in + 1 - (flat_r + flat_gap), pocket_w - 2 * block_side_clearance, pocket_h - 2 * block_z_clearance]); +} + +// Cylindrical pin, perpendicular to the flat, that locates the rail in the alignment hole. With +// pin_v_bottom the lower quarter (towards -y, the bed side of the print orientation) is replaced +// by two 45 deg faces meeting at the bottom of the circle, so the horizontal pin prints without +// support and still touches the hole at the top, the sides and the bottom apex. +module alignment_pin() { + x0 = flat_r + flat_gap; // block face + intersection() { + translate([-(x0 + 1), 0, pocket_z]) rotate([0, 90, 0]) { + cylinder(d = pin_d, h = 1 + pin_h - pin_chamfer); + translate([0, 0, 1 + pin_h - pin_chamfer]) cylinder(d1 = pin_d, d2 = pin_d - 2 * pin_chamfer, h = pin_chamfer); + } + if (pin_v_bottom) + translate([-(x0 + 2), -pin_d / 2, pocket_z]) rotate([-45, 0, 0]) cube([pin_h + 4, pin_d, pin_d]); + else + translate([-(x0 + 2), -pin_d, pocket_z - pin_d]) cube([pin_h + 4, 2 * pin_d, 2 * pin_d]); + } +} + +// Screw holes perpendicular to the flat. The head seat is spot-faced down to seat_x so that the +// screw engages `engagement` mm of thread: the thread starts at the flat (flat_r), the rail's +// outer surface at the screws is further out than screw_len - engagement. +module rail_screw_holes() { + seat_x = flat_r + screw_len - engagement; + csk_h = (csk_d - screw_d) / 2; + for (s = [-1, 1]) + translate([0, s * hole_spacing / 2, pocket_z]) { + translate([-(flat_r - 2), 0, 0]) rotate([0, -90, 0]) cylinder(d = screw_d, h = 30); + translate([-seat_x, 0, 0]) rotate([0, 90, 0]) cylinder(d1 = csk_d, d2 = screw_d, h = csk_h); + translate([-seat_x, 0, 0]) rotate([0, -90, 0]) cylinder(d = csk_d, h = 30); + } +} + +// Lower part of the rail that the webs and the collision hull attach to. Above hull_z0 the link +// is still at full radius, and a convex hull of the curved rail would cut into it. +module rail_lower() { + intersection() { + rail(); + translate([-200, -200, hull_z0]) cube([400, 400, rail_z1 - hull_z0 + 1]); + } +} + +// Slab behind the camera back face, top lowered by `sink` (used for the collision mesh so +// that it does not touch the camera collision mesh). +module shelf(sink = 0) { + translate([-cam_d - shelf_t, -(cam_w / 2 + shelf_margin), -(cam_h / 2 + shelf_margin)]) + cube([shelf_t - sink, cam_w + 2 * shelf_margin, cam_h + 2 * shelf_margin]); +} + +// Rim around the camera back on three sides, open on the connector (-z) side. +module rim() { + difference() { + translate([-cam_d, -(cam_w / 2 + shelf_margin), -(cam_h / 2 + shelf_margin)]) + cube([rim_h, cam_w + 2 * shelf_margin, cam_h + 2 * shelf_margin]); + translate([-cam_d - 1, -(cam_w / 2 + cam_tol), -(cam_h / 2 + shelf_margin + 1)]) + cube([rim_h + 2, cam_w + 2 * cam_tol, cam_h + shelf_margin + 1 + cam_tol]); + } +} + +// Camera screws from below the shelf: M4 through holes with 90 deg countersinks flush with the +// shelf underside, on the baseline (z) axis 20 mm apart. +module m4_holes() { + csk_h = (m4_csk_d - m4_hole_d) / 2; + for (s = [-1, 1]) + translate([-cam_d - shelf_t, 0, s * m4_spacing / 2]) rotate([0, 90, 0]) { + translate([0, 0, -1]) cylinder(d = m4_hole_d, h = shelf_t + 2); + translate([0, 0, -1]) cylinder(d1 = m4_csk_d + 2, d2 = m4_csk_d, h = 1); + cylinder(d1 = m4_csk_d, d2 = m4_hole_d, h = csk_h); + } +} + +// y_clip narrows the rail part of the hull; the collision mesh uses it so that the chord between +// the rail's inner corners stays clear of the Grav's (coarse) collision hull. +module bracket_hull(sink = 0, y_clip = rail_w / 2) { + hull() { + intersection() { + rail_lower(); + translate([-200, -y_clip, -200]) cube([400, 2 * y_clip, 400]); + } + cam_frame() shelf(sink); + } +} + +module webs() { + web_y = (cam_w / 2 + shelf_margin) - web_t; + intersection() { + bracket_hull(); + union() { + for (s = [-1, 1]) + translate([-200, s * (web_y + web_t / 2) - web_t / 2, -100]) cube([400, web_t, 300]); + translate([-200, -web_center_t / 2, -100]) cube([400, web_center_t, 300]); + } + } +} + +module visual() { + difference() { + union() { + rail(); + pocket_block(); + alignment_pin(); + webs(); + cam_frame() { + shelf(); + rim(); + } + } + rail_screw_holes(); + cam_frame() m4_holes(); + } +} + +if (part == "collision") bracket_hull(1, rail_w / 2 - 3); +else visual(); diff --git a/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml new file mode 100644 index 00000000..3a32c653 --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml @@ -0,0 +1,38 @@ + + + + diff --git a/assets/objects/rizon_grav_d405_plate_mount/README.md b/assets/objects/rizon_grav_d405_plate_mount/README.md new file mode 100644 index 00000000..533ab070 --- /dev/null +++ b/assets/objects/rizon_grav_d405_plate_mount/README.md @@ -0,0 +1,60 @@ +# Rizon 4s / Grav D405 plate mount + +3D-printable mount for an Intel RealSense D405 on a Flexiv Rizon 4s that carries the Flexiv +Grav gripper. The part is an 8 mm spacer plate sandwiched between the Rizon tool flange +(ISO 9409-1-50-4-M6) and the Grav, with a short bracket that holds the camera on the front of +the gripper (the side facing away from the robot base in the rcs home pose), tilted 20° towards +the finger tips. The whole camera stays below the shoulder of the Grav housing, so it does not +add reach along the gripper axis. + +Because the plate shifts the gripper and its TCP by 8 mm, this variant is not the one used by +the rcs scene; see `../rizon_d405_wrist_mount`, which clamps to the accessory holes of the Rizon +wrist link instead and leaves the gripper where it is. + +Files: + +- `rizon_grav_d405_plate_mount.scad` – parametric OpenSCAD source (all dimensions in mm) +- `build_meshes.py` – regenerates the STLs with OpenSCAD (`uv run python build_meshes.py`) +- `assets/rizon_grav_d405_plate_mount.stl` – printable part, also the MuJoCo visual mesh +- `assets/rizon_grav_d405_plate_mount_collision.stl` – convex bracket used as the MuJoCo collision mesh +- `rizon_grav_d405_plate_mount.xml` – MJCF, registered as `OBJECT_PATHS["rizon_grav_d405_plate_mount"]` + +## Frames + +Everything is defined in the Rizon attachment-site (flange) frame: z points out of the flange +towards the fingers, the Grav fingers open along y, the camera sits on the -x side. In rcs the +mount is placed with `DEFAULT_TRANSFORMS["RIZON_GRAV_D405_PLATE_MOUNT"]` (identity), the Grav has to be +shifted by `RIZON_GRAV_D405_PLATE_MOUNT_GRIPPER_OFFSET` (8 mm along z) and the D405 body sits at +`RIZON_GRAV_D405_PLATE_MOUNT_CAMERA`: front glass centre at (-65, 0, 60) mm, optical axis 20° +off the flange z axis towards the fingers, image up pointing away from the gripper so the +fingers show at the bottom of the image, stereo baseline (M4 threads and USB-C port) along +flange y, so the plug points sideways. + +To use this variant, apply `RIZON_GRAV_D405_PLATE_MOUNT_GRIPPER_OFFSET` as gripper offset and +compose it into the TCP offset, in sim and on the hardware. + +## Hardware + +- 4x M6 screws, 8 mm longer than the ones that hold the Grav on the bare flange (they pass + through the Grav base and the plate into the flange threads, bolt circle 50 mm) +- 1x 6 mm dowel pin, long enough to engage flange and Grav through the 8 mm plate. The plate + has pin holes at 0°, 180° and 270° (the same positions the Grav offers), use the one that + matches the flange pin. +- 2x M4x12 countersunk screws (DIN 7991) for the camera, driven from below the 7.5 mm shelf + into the two M4 threads on the back of the D405 (20 mm apart along the baseline, 5.5 mm deep; + 4.5 mm engagement). The middle between the two side webs is open for the screwdriver. +- Any USB-C cable; the port faces sideways. + +## Printing + +Print with the plate on the bed (the shelf underside is a 20° overhang that needs support) or +lying on one of the side webs, which prints support-free. 4+ perimeters and 40 % infill; PETG +or PLA are fine for the 58 g camera. The part is about 53 cm³, i.e. roughly 65 g in PLA. + +## Design references + +The Grav envelope (86.6 mm skirt, 84 mm body, 63 mm contact face) and the Rizon flange pattern +(4x M6 on a 50 mm circle at 45°, 31.5 mm pilot) were measured from the meshes in +`assets/grippers/flexiv_grav` and `assets/robots/rizon4s`; the D405 dimensions (42 x 42 x 23 mm, +two M4 threads on the back 20 mm apart along the baseline) from the Intel D400 series datasheet and the D405 mesh in +`assets/cameras/d405`. diff --git a/assets/objects/rizon_grav_d405_plate_mount/assets/rizon_grav_d405_plate_mount.stl b/assets/objects/rizon_grav_d405_plate_mount/assets/rizon_grav_d405_plate_mount.stl new file mode 100644 index 00000000..c62dba4b Binary files /dev/null and b/assets/objects/rizon_grav_d405_plate_mount/assets/rizon_grav_d405_plate_mount.stl differ diff --git a/assets/objects/rizon_grav_d405_plate_mount/assets/rizon_grav_d405_plate_mount_collision.stl b/assets/objects/rizon_grav_d405_plate_mount/assets/rizon_grav_d405_plate_mount_collision.stl new file mode 100644 index 00000000..88486803 Binary files /dev/null and b/assets/objects/rizon_grav_d405_plate_mount/assets/rizon_grav_d405_plate_mount_collision.stl differ diff --git a/assets/objects/rizon_grav_d405_plate_mount/build_meshes.py b/assets/objects/rizon_grav_d405_plate_mount/build_meshes.py new file mode 100644 index 00000000..1079cd22 --- /dev/null +++ b/assets/objects/rizon_grav_d405_plate_mount/build_meshes.py @@ -0,0 +1,34 @@ +"""Builds the STL meshes of the Rizon/Grav D405 wrist mount from the OpenSCAD source. + +Requires the `openscad` binary (tested with 2021.01). The visual mesh is the printable part, +the collision mesh is the convex bracket without the spacer plate: the plate is enclosed by +the flange and the gripper, and its convex hull together with the bracket would fill the +volume where the gripper sits. +""" + +import subprocess +from pathlib import Path + +HERE = Path(__file__).parent +SCAD = HERE / "rizon_grav_d405_plate_mount.scad" +ASSETS = HERE / "assets" + +MESHES = { + "rizon_grav_d405_plate_mount.stl": "visual", + "rizon_grav_d405_plate_mount_collision.stl": "collision", +} + + +def main(): + ASSETS.mkdir(exist_ok=True) + for filename, part in MESHES.items(): + out = ASSETS / filename + subprocess.run( + ["openscad", "-o", str(out), "--export-format", "binstl", "-D", f'part="{part}"', str(SCAD)], + check=True, + ) + print(f"wrote {out}") + + +if __name__ == "__main__": + main() diff --git a/assets/objects/rizon_grav_d405_plate_mount/rizon_grav_d405_plate_mount.scad b/assets/objects/rizon_grav_d405_plate_mount/rizon_grav_d405_plate_mount.scad new file mode 100644 index 00000000..02e567fc --- /dev/null +++ b/assets/objects/rizon_grav_d405_plate_mount/rizon_grav_d405_plate_mount.scad @@ -0,0 +1,149 @@ +// Wrist mount for an Intel RealSense D405 on a Flexiv Rizon 4s carrying the Flexiv Grav gripper. +// +// The part is an 8 mm spacer plate that is sandwiched between the Rizon tool flange +// (ISO 9409-1-50-4-M6) and the Grav, plus a short bracket that holds the camera on the +// front of the gripper, tilted towards the finger tips. Everything is expressed in the +// Rizon attachment-site (flange) frame in millimetres: z points out of the flange towards +// the fingers, the Grav fingers open along y, and the camera sits on the -x side, which +// faces away from the robot base in the rcs home pose. +// +// Build with `python build_meshes.py` (runs OpenSCAD for the visual and collision STLs). +// Numbers of the Grav envelope and the D405 were measured from the meshes in +// assets/grippers/flexiv_grav and assets/cameras/d405, the flange pattern from the Rizon +// link7 mesh, the D405 hole positions from the Intel D400 series datasheet. + +part = "visual"; // "visual": full part, "collision": convex bracket for MuJoCo +$fn = 96; + +// ---- Spacer plate / flange interface (ISO 9409-1-50-4-M6) --------------------------- +plate_d = 63; // Rizon flange and Grav contact face are both 63 mm +plate_t = 8; // the Grav and its TCP move out by this amount +bolt_pcd = 50; +bolt_d = 6.4; // M6 clearance, the original Grav screws are reused 8 mm longer +bolt_angles = [45, 135, 225, 315]; +pin_d = 6.1; // 6 mm dowel pin +pin_angles = [0, 180, 270]; // the Grav has pin holes here, 90 deg is taken by its notch +bore_d = 32; // clears the ISO 31.5 mm pilot, also passes cables + +// ---- Bracket ------------------------------------------------------------------------ +arm_x_in = -45; // inner face, 1.7 mm off the 86.6 mm Grav skirt, 3 mm off its 84 mm body +arm_t = 8; +arm_w = 46; +arm_h = 30; +web_t = 4; // two side webs support the camera shelf, the middle stays open for the screws + +// ---- Camera: Intel RealSense D405, 42 x 42 x 23 mm ---------------------------------- +cam_w = 42; +cam_h = 42; +cam_d = 23; +cam_tol = 0.15; +cam_alpha = 20; // tilt of the optical axis towards the fingers [deg] +cam_o = [-65, 0, 60]; // front glass centre in the flange frame [mm] +shelf_t = 7.5; // M4x12 DIN 7991 through it: 4.5 mm engagement in the 5.5 mm threads +shelf_margin = 2; // shelf and rim overhang around the camera footprint +rim_h = 3; +m4_hole_d = 4.5; // two M4 threads on the camera back, 20 mm apart along the baseline, 5.5 mm deep +m4_spacing = 20; +m4_csk_d = 8.6; // 90 deg countersink for DIN 7991 M4 heads (dk = 8) plus clearance + +// Camera frame in the flange frame (the body frame of assets/cameras/d405): x is the optical axis, +// y the housing top (image up), z the stereo baseline. Image up points away from the gripper so +// that the fingers show at the bottom of the image; the baseline, the two M4 threads on the back +// and the USB-C port (on the -z face) run along flange y, so the plug points sideways, clear of +// the gripper. +ca = cam_alpha; +cam_x = [sin(ca), 0, cos(ca)]; +cam_y = [-cos(ca), 0, sin(ca)]; +cam_z = [0, -1, 0]; +cam_mat = [ + [cam_x[0], cam_y[0], cam_z[0], cam_o[0]], + [cam_x[1], cam_y[1], cam_z[1], cam_o[1]], + [cam_x[2], cam_y[2], cam_z[2], cam_o[2]], + [0, 0, 0, 1], +]; + +module cam_frame() { + multmatrix(cam_mat) children(); +} + +module arm() { + translate([arm_x_in - arm_t, -arm_w / 2, 0]) cube([arm_t, arm_w, arm_h]); +} + +// Slab behind the camera back face, top lowered by `sink` (used for the collision mesh so +// that it does not touch the camera collision mesh). +module shelf(sink = 0) { + translate([-cam_d - shelf_t, -(cam_w / 2 + shelf_margin), -(cam_h / 2 + shelf_margin)]) + cube([shelf_t - sink, cam_w + 2 * shelf_margin, cam_h + 2 * shelf_margin]); +} + +// Rim around the camera back on three sides, open on the connector (-z) side. +module rim() { + difference() { + translate([-cam_d, -(cam_w / 2 + shelf_margin), -(cam_h / 2 + shelf_margin)]) + cube([rim_h, cam_w + 2 * shelf_margin, cam_h + 2 * shelf_margin]); + translate([-cam_d - 1, -(cam_w / 2 + cam_tol), -(cam_h / 2 + shelf_margin + 1)]) + cube([rim_h + 2, cam_w + 2 * cam_tol, cam_h + shelf_margin + 1 + cam_tol]); + } +} + +// Camera screws from below the shelf: M4 through holes with 90 deg countersinks flush with the +// shelf underside, on the baseline (z) axis 20 mm apart. +module m4_holes() { + csk_h = (m4_csk_d - m4_hole_d) / 2; + for (s = [-1, 1]) + translate([-cam_d - shelf_t, 0, s * m4_spacing / 2]) rotate([0, 90, 0]) { + translate([0, 0, -1]) cylinder(d = m4_hole_d, h = shelf_t + 2); + translate([0, 0, -1]) cylinder(d1 = m4_csk_d + 2, d2 = m4_csk_d, h = 1); + cylinder(d1 = m4_csk_d, d2 = m4_hole_d, h = csk_h); + } +} + +module bracket_hull(sink = 0) { + hull() { + arm(); + cam_frame() shelf(sink); + } +} + +module webs() { + intersection() { + bracket_hull(); + union() { + for (s = [-1, 1]) + translate([-200, s * (arm_w / 2 - web_t / 2) - web_t / 2, -1]) cube([400, web_t, 200]); + } + } +} + +module plate() { + difference() { + hull() { + cylinder(d = plate_d, h = plate_t); + translate([arm_x_in - arm_t, -arm_w / 2, 0]) cube([arm_t, arm_w, plate_t]); + } + translate([0, 0, -1]) cylinder(d = bore_d, h = plate_t + 2); + for (a = bolt_angles) + rotate([0, 0, a]) translate([bolt_pcd / 2, 0, -1]) cylinder(d = bolt_d, h = plate_t + 2); + for (a = pin_angles) + rotate([0, 0, a]) translate([bolt_pcd / 2, 0, -1]) cylinder(d = pin_d, h = plate_t + 2); + } +} + +module visual() { + difference() { + union() { + plate(); + arm(); + webs(); + cam_frame() { + shelf(); + rim(); + } + } + cam_frame() m4_holes(); + } +} + +if (part == "collision") bracket_hull(1); +else visual(); diff --git 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a/docs/extensions/overview.md b/docs/extensions/overview.md index 5b286ecf..b318a25a 100644 --- a/docs/extensions/overview.md +++ b/docs/extensions/overview.md @@ -40,6 +40,7 @@ RCS comes with several supported extensions: - **rcs_ur5e**: Support for the UR5e robot. - **rcs_so101**: Support for the SO101 robot. - **rcs_yam**: Support for the I2RT YAM arm. +- **rcs_flexiv**: Support for Flexiv arms (Rizon 4s) and the Flexiv Grav gripper. - **rcs_realsense**: Support for Intel RealSense cameras. - **rcs_usb_cam**: Support for generic USB webcams. - **rcs_tacto**: Integration with the Tacto tactile sensor simulator. diff --git a/docs/extensions/rcs_flexiv.md b/docs/extensions/rcs_flexiv.md new file mode 100644 index 00000000..853debe7 --- /dev/null +++ b/docs/extensions/rcs_flexiv.md @@ -0,0 +1,74 @@ +# RCS Flexiv Extension + +This extension provides support for Flexiv arms such as the Rizon 4s and the Flexiv Grav gripper +in RCS, built on the Python bindings of the [Flexiv RDK](https://github.com/flexivrobotics/flexiv_rdk). + +## Installation + +```shell +pip install rcs-flexiv +``` + +For local development: + +```shell +pip install -ve . --no-build-isolation +pip install -ve extensions/rcs_flexiv +``` + +Complete the [first time setup](https://www.flexiv.com/software/rdk/manual/index.html#first-time-setup) +of the RDK once, release the E-stop and switch the robot into auto mode in Flexiv Elements before +connecting. The extension pins `flexivrdk` 1.9.2, the RDK line for the Rizon series matching robot +software v3.11.1; install the `flexivrdk` version matching your robot software if it differs. Serial +numbers are passed as `Rizon4s-063650`. + +## Usage + +```python +from rcs.envs.base import ControlMode +from rcs_flexiv.configs import DefaultRizon4SHardwareEnv + +env_creator = DefaultRizon4SHardwareEnv() +env_creator.robot_sn = "Rizon4s-063650" +env_creator.tool_name = "Flexiv-GN01" # tool created for the gripper in Flexiv Elements + +cfg = env_creator.config() +cfg.control_mode = ControlMode.CARTESIAN_TQuat +cfg.robot_cfg.async_control = False + +env = env_creator.create_env(cfg) +obs, info = env.reset() +``` + +## Control modes and stiffness + +`FlexivConfig.control_mode` selects the RDK controller: `JOINT_POSITION`, `JOINT_IMPEDANCE` +(default) or `CARTESIAN_IMPEDANCE`. The impedance modes expose the controller gains as absolute +stiffness values (`joint_stiffness` in Nm/rad, `cartesian_stiffness` in N/m and Nm/rad, both within +`[0, nominal]`) and damping ratios within `[0.3, 0.8]`. `None` uses the robot's nominal values, and +`Flexiv.set_joint_impedance` / `Flexiv.set_cartesian_impedance` change them at runtime. + +In the joint modes RCS's Cartesian control goes through its own IK like in simulation; in +`CARTESIAN_IMPEDANCE` the robot's Cartesian controller tracks the pose directly. + +## Sync and async control + +All RDK modes used here are non-real-time modes with an internal motion generator, so the robot +re-plans online whenever a new target arrives. With `async_control=True` the RCS setters return +immediately, with `async_control=False` they poll until the target is reached within tolerance or a +timeout hits. The same flag exists on `FlexivGripperConfig`. `move_home` always blocks. + +## Notes + +- The gripper is a device of the robot connection and is created from the `Flexiv` instance. Its + device name is found in Flexiv Elements -> Settings -> Device, `Flexiv-GN01` for the Grav. +- The active tool in Flexiv Elements determines the gravity compensation, pass the gripper's tool + as `tool_name`. +- The simulated counterpart is registered as `rcs/rizon4s` in core RCS and uses the same kinematics + and gripper. `DefaultRizon4SDualMultiHardwareEnv` and `rcs/rizon4s_duo` provide a dual-arm setup + with the bases 0.3 m apart and tilted 45 degrees outward, see `examples/teleop/rizon.py`. + +See `extensions/rcs_flexiv/README.md` for the full extension documentation and +`extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py` for a bring-up script. For a maintained +example, see `examples/rizon4s/rizon4s_env_cartesian_control.py`, which moves the TCP forward and +backward in synchronous Cartesian mode in simulation or on hardware. diff --git a/docs/user_guide/conventions.md b/docs/user_guide/conventions.md index 86fcf4e0..81e67ad6 100644 --- a/docs/user_guide/conventions.md +++ b/docs/user_guide/conventions.md @@ -61,7 +61,7 @@ Each robot config defines an `attachment_site`. This is the end-effector frame u Common examples in the repository are: - `attachment_site_0` for FR3 / Panda -- `attachment_site` for UR5e / XArm7 +- `attachment_site` for UR5e / XArm7 / Rizon 4s - `gripper` for SO101 If you are unsure which frame a robot uses, check its config or the relevant example scene in `python/rcs/envs/configs.py`. diff --git a/examples/rizon4s/rizon4s_env_cartesian_control.py b/examples/rizon4s/rizon4s_env_cartesian_control.py new file mode 100644 index 00000000..8e8d73eb --- /dev/null +++ b/examples/rizon4s/rizon4s_env_cartesian_control.py @@ -0,0 +1,140 @@ +import logging +from time import sleep + +import gymnasium as gym +import numpy as np +from rcs._core.common import RobotPlatform +from rcs._core.sim import SimConfig +from rcs.camera.sim import SimCameraSet +from rcs.envs.base import ( + CameraSetWrapper, + ControlMode, + CoverWrapper, + GripperWrapper, + RelativeActionSpace, + RelativeTo, + RobotWrapper, + SimEnv, +) +from rcs.envs.configs import EmptyWorldRizon4S +from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper + +import rcs +from rcs import sim + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + +""" +This script demonstrates Cartesian position control of the Flexiv Rizon 4s arm in synchronous mode. +The arm is driven to its home pose on reset and then moves 1cm forward and backward along the base x +axis in a loop while opening and closing the Flexiv Grav gripper. Every step goes through inverse +kinematics, so the printed TCP positions tracking the commanded ones show that IK works. + +To control a real Rizon 4s, install the rcs_flexiv extension (`pip install -ve extensions/rcs_flexiv`), +set ROBOT_SN and the gripper's tool name and set ROBOT_INSTANCE to RobotPlatform.HARDWARE. The robot +has to be in auto mode with the E-stop released, see the extension README. +""" + +ROBOT_INSTANCE = RobotPlatform.SIMULATION # Change to RobotPlatform.HARDWARE for the real arm +ROBOT_SN = "Rizon4s-063650" +GRIPPER_TOOL_NAME = None # tool created for the Grav in Flexiv Elements, None keeps the active tool +GRIPPER_MANUAL_INIT = True # the 48 V Grav does not initialize on power-on, the fingers move to both stops + +STEP_SIZE = 0.01 # meters per step +STEPS_PER_LEG = 10 # steps forward before reversing +CYCLES = 100 + + +def main(): + if ROBOT_INSTANCE == RobotPlatform.HARDWARE: + from rcs_flexiv.configs import DefaultRizon4SHardwareEnv + from rcs_flexiv.hw import FlexivControlMode + + env_creator = DefaultRizon4SHardwareEnv() + env_creator.robot_sn = ROBOT_SN + env_creator.tool_name = GRIPPER_TOOL_NAME + env_creator.gripper_manual_init = GRIPPER_MANUAL_INIT + hw_cfg = env_creator.config() + hw_cfg.robot_cfg.control_mode = FlexivControlMode.CARTESIAN_IMPEDANCE + hw_cfg.control_mode = ControlMode.CARTESIAN_TQuat + # Synchronous mode: every command returns once the arm has reached its target. + hw_cfg.robot_cfg.async_control = False + hw_cfg.max_relative_movement = (0.05, np.deg2rad(5)) + hw_cfg.relative_to = RelativeTo.LAST_STEP + hw_cfg.frequency = 25 # limit the rate at which we send commands to the robot + env_hw = env_creator.create_env(hw_cfg) + input("the arm is going to move, press enter whenever you are ready") + run(env_hw) + return + + scene = EmptyWorldRizon4S() + sim_cfg_data = scene.prefixed_cfg(scene.config()) + rizon = scene.lead_robot_name(sim_cfg_data) + + robot_cfg = sim_cfg_data.robot_cfgs[rizon] + gripper_cfg = sim_cfg_data.gripper_cfgs[rizon] # type: ignore[index] + camera_cfgs = sim_cfg_data.camera_cfgs + # Synchronous mode: the simulation steps until the commanded pose is reached. + sim_cfg = SimConfig( + realtime=False, + async_control=False, + ) + + mjmodel = scene.create_model(sim_cfg_data) + simulation = sim.Sim(mjmodel, sim_cfg) + + kinematic_model_path, attachment_site = scene.kinematics_cfg(sim_cfg_data)[rizon] + ik = rcs.common.Pin( + kinematic_model_path, + attachment_site, + ) + + robot = rcs.sim.SimRobot(simulation, ik, robot_cfg) + env_rel = SimEnv(simulation) + env_rel = RobotWrapper(env_rel, robot, ControlMode.CARTESIAN_TQuat) + + gripper = sim.SimGripper(simulation, gripper_cfg) + env_rel = GripperWrapper(env_rel, gripper) + + env_rel = RobotSimWrapper(env_rel) + env_rel = GripperWrapperSim(env_rel) + + if camera_cfgs is not None: + camera_set = SimCameraSet(simulation, camera_cfgs, physical_units=True, render_on_demand=True) + env_rel = CameraSetWrapper(env_rel, camera_set, include_depth=True) # type: ignore[arg-type] + + env_rel = RelativeActionSpace( + env_rel, + max_mov=(0.05, np.deg2rad(5)), + relative_to=RelativeTo.LAST_STEP, + ) + env_rel = CoverWrapper(env_rel) + env_rel.get_wrapper_attr("sim").open_gui() + run(env_rel) + + +def run(env_rel: gym.Env) -> None: + # Homing happens on reset, driving the joints to the home pose. + env_rel.reset() + + robot_api = env_rel.get_wrapper_attr("robot") + print(f"home TCP: {np.round(robot_api.get_cartesian_position().translation(), 4)}") + + for _ in range(CYCLES): + for _ in range(STEPS_PER_LEG): + # move forward along x and close the gripper + act = {"tquat": [STEP_SIZE, 0, 0, 0, 0, 0, 1], "gripper": [0]} + obs, reward, terminated, truncated, info = env_rel.step(act) + print(f"TCP: {np.round(robot_api.get_cartesian_position().translation(), 4)}") + sleep(0.1) + for _ in range(STEPS_PER_LEG): + # move backward along x and open the gripper + act = {"tquat": [-STEP_SIZE, 0, 0, 0, 0, 0, 1], "gripper": [1]} + obs, reward, terminated, truncated, info = env_rel.step(act) + print(f"TCP: {np.round(robot_api.get_cartesian_position().translation(), 4)}") + sleep(0.1) + + +if __name__ == "__main__": + main() diff --git a/examples/teleop/README.md b/examples/teleop/README.md index fd4069f4..0703795a 100644 --- a/examples/teleop/README.md +++ b/examples/teleop/README.md @@ -57,6 +57,13 @@ The arm follows the right controller, so keep `ROBOT_NAME = "right"` unless you 2. go to [`yam.py`](yam.py), set `ROBOT_INSTANCE = RobotPlatform.HARDWARE` and set `CAN_CHANNEL` to your interface, or keep `RobotPlatform.SIMULATION` to try it in sim first 3. to record RealSense cameras, install the [RealSense extension](https://robotcontrolstack.org/extensions/rcs_realsense) and put your camera serial numbers (`rs-enumerate-devices -s`) into `CAMERA_DICT`, or set it to `None` to run without cameras +## Teleoperation of a Rizon 4s duo with Meta Quest 3 +[`rizon.py`](rizon.py) teleoperates two [Flexiv Rizon 4s](https://robotcontrolstack.org/extensions/rcs_flexiv) with Grav grippers. +The arms stand 30 cm apart in y and are each tilted by 45 degrees about x away from the other arm (right +45, left -45 degrees); actions are expressed in the shared frame between the two bases (x front, y left, z up), so align the quest coordinate axis to that frame. +1. install the [Flexiv extension](https://robotcontrolstack.org/extensions/rcs_flexiv), put both robots into auto mode and release the E-stops +2. go to [`rizon.py`](rizon.py), set `ROBOT_INSTANCE = RobotPlatform.HARDWARE`, the serial numbers in `ROBOT_SN` and the tool name of the gripper, or keep `RobotPlatform.SIMULATION` to try it in sim first (`rcs/rizon4s_duo`) +3. if your arms are mounted differently, adapt `ROBOT_TO_SHARED_BASE_FRAME` in the script + ## Teleoperation with Franka GELLO Duo Teleoperate your Franka Duo using the [Franka GELLO Duo](https://franka.de/de-de/product-prototypes). Install dependencies via diff --git a/examples/teleop/rizon.py b/examples/teleop/rizon.py new file mode 100644 index 00000000..b0a0eecd --- /dev/null +++ b/examples/teleop/rizon.py @@ -0,0 +1,124 @@ +import logging + +import numpy as np +from rcs._core.common import RobotPlatform +from rcs._core.sim import SimConfig +from rcs.envs.configs import EmptyWorldRizon4SDuo +from rcs.envs.storage_wrapper import StorageWrapper +from rcs.operator.interface import TeleopLoop +from rcs.operator.quest import QuestConfig, QuestOperator +from simpub.sim.mj_publisher import MujocoPublisher + +import rcs + +logger = logging.getLogger(__name__) + +""" +Teleoperation of two Flexiv Rizon 4s arms with the Meta Quest 3. See README.md for the setup of the +quest and the IRIS app; each arm follows its controller while the trigger is held, and the hand +trigger drives the Grav gripper. + +The arms stand 30 cm apart in y and are each tilted by 45 degrees about x away from the other arm +(right arm +45 degrees, left arm -45 degrees, like the FR3 duo). +Actions and observations are expressed in the shared base frame between the two bases, which is the +frame the quest axis has to be aligned to (x front, y left, z up). The matching simulation is +registered as `rcs/rizon4s_duo`. + +To teleoperate real hardware, install the rcs_flexiv extension (`pip install -ve extensions/rcs_flexiv`), +put both robots into auto mode with released E-stops and set ROBOT_INSTANCE to RobotPlatform.HARDWARE. +""" + +ROBOT_INSTANCE = RobotPlatform.SIMULATION +ROBOT_SN = { + "right": "Rizon4s-063650", +} +GRIPPER_DEVICE_NAME = "Flexiv-GN01" +GRIPPER_TOOL_NAME = None # tool created for the Grav in Flexiv Elements, None keeps the active tool + +ROBOT_TO_SHARED_BASE_FRAME = { + "left": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_LEFT_ROBOT"], + "right": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_RIGHT_ROBOT"], +} + +MQ3_ADDR = "10.42.0.1" +RECORD_FPS = 30 + +DATASET_PATH = "rizon_teleop" +INSTRUCTION = "pick up cube" + +config = QuestConfig( + mq3_addr=MQ3_ADDR, + simulation=ROBOT_INSTANCE == RobotPlatform.SIMULATION, + switched_left_right=False, + display_cameras=False, + read_frequency=90, +) + + +def get_env(): + if ROBOT_INSTANCE == RobotPlatform.HARDWARE: + from rcs_flexiv.configs import DefaultRizon4SDualMultiHardwareEnv + from rcs_flexiv.hw import FlexivControlMode + + env_creator = DefaultRizon4SDualMultiHardwareEnv() + env_creator.left_sn = ROBOT_SN.get("left", env_creator.left_sn) + env_creator.right_sn = ROBOT_SN.get("right", env_creator.right_sn) + env_creator.gripper_device_name = GRIPPER_DEVICE_NAME + env_creator.tool_name = GRIPPER_TOOL_NAME + # The dual config already enables async_control, so the setters do not wait for the arms. + hw_cfg = env_creator.config() + # Drop the arms that are not connected. + hw_cfg.robot_cfgs = {name: cfg for name, cfg in hw_cfg.robot_cfgs.items() if name in ROBOT_SN} + assert hw_cfg.gripper_cfgs is not None + hw_cfg.gripper_cfgs = {name: cfg for name, cfg in hw_cfg.gripper_cfgs.items() if name in ROBOT_SN} + for robot_cfg in hw_cfg.robot_cfgs.values(): + # The robot's own Cartesian impedance controller tracks the streamed poses, no rcs IK involved. Its + # motion generator limits how fast it follows the controller, raise them if the arm feels laggy. + robot_cfg.control_mode = FlexivControlMode.CARTESIAN_IMPEDANCE + robot_cfg.max_linear_velocity = 1.0 + robot_cfg.max_angular_velocity = 2.0 + robot_cfg.max_linear_acceleration = 4.0 + robot_cfg.max_angular_acceleration = 8.0 + # Reference posture for the null-space control, otherwise the posture at mode entry is used. + robot_cfg.null_space_posture = robot_cfg.q_home + hw_cfg.control_mode = config.operator_class.control_mode[0] + hw_cfg.relative_to = config.operator_class.control_mode[1] + hw_cfg.max_relative_movement = (0.5, np.deg2rad(90)) + hw_cfg.robot_to_shared_base_frame = {name: ROBOT_TO_SHARED_BASE_FRAME[name] for name in ROBOT_SN} + hw_cfg.wrapper_cfg.binary_gripper = False + hw_cfg.frequency = RECORD_FPS + env_rel = env_creator.create_env(hw_cfg) + operator = QuestOperator(config) + else: + scene = EmptyWorldRizon4SDuo() + sim_cfg_data = scene.config() + sim_cfg_data.sim_cfg = SimConfig( + async_control=True, realtime=True, frequency=RECORD_FPS, max_convergence_steps=500 + ) + sim_cfg_data.control_mode = config.operator_class.control_mode[0] + sim_cfg_data.relative_to = config.operator_class.control_mode[1] + sim_cfg_data.max_relative_movement = (0.5, np.deg2rad(90)) + sim_cfg_data.robot_to_shared_base_frame = ROBOT_TO_SHARED_BASE_FRAME + sim_cfg_data.wrapper_cfg.binary_gripper = False + env_rel = scene.create_env(sim_cfg_data) + + sim = env_rel.get_wrapper_attr("sim") + MujocoPublisher(sim.model, sim.data, MQ3_ADDR, visible_geoms_groups=list(range(1, 3))) + operator = QuestOperator(config, sim) + + env_rel = StorageWrapper( + env_rel, DATASET_PATH, INSTRUCTION, batch_size=32, max_rows_per_group=100, max_rows_per_file=1000 + ) + return env_rel, operator + + +def main(): + env_rel, operator = get_env() + env_rel.reset() + tele = TeleopLoop(env_rel, operator, env_frequency=RECORD_FPS, robot_platform=ROBOT_INSTANCE) + with env_rel, tele: # type: ignore + tele.environment_step_loop() + + +if __name__ == "__main__": + main() diff --git a/extensions/rcs_flexiv/README.md b/extensions/rcs_flexiv/README.md new file mode 100644 index 00000000..c7882cec --- /dev/null +++ b/extensions/rcs_flexiv/README.md @@ -0,0 +1,184 @@ +# RCS Flexiv Extension + +Support for Flexiv arms (Rizon 4s and other models supported by the RDK) and the Flexiv Grav +gripper in RCS, built on the Python bindings of the [Flexiv RDK](https://github.com/flexivrobotics/flexiv_rdk). + +This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/). +Documentation: + +## Installation + +Install from PyPI: + +```shell +pip install rcs-flexiv +``` + +Install from a local checkout, using the local RCS checkout instead of the published `rcs-core`: + +```shell +pip install -ve . --no-build-isolation +pip install -ve extensions/rcs_flexiv +``` + +The `flexivrdk` package is pulled from PyPI and pinned to 1.9.2, which ships prebuilt wheels for +Linux, macOS and Windows and Python 3.10, 3.12 and 3.14. + +The RDK version has to match the robot software version shown in Flexiv Elements, otherwise the +connection is refused as incompatible. RDK 1.9.x is the release line for the Rizon series, RDK 2.x +only supports the Enlight series and has a different API. If your robot runs another software +version, install the matching `flexivrdk` after this extension: + +| robot software | `flexivrdk` | +| -------------- | ------------ | +| v3.11.2 | 1.9.3 | +| v3.11.1 | 1.9.1, 1.9.2 | +| v3.11 | 1.9.0 | +| v3.10 | 1.8.x | + +## Robot setup + +Go through the [first time setup](https://www.flexiv.com/software/rdk/manual/index.html#first-time-setup) +of the RDK manual once: the workstation needs a network connection to the robot controller and the +robot needs an RDK license. Before running RCS: + +- Release the E-stop and put the robot into auto mode in Flexiv Elements. +- The serial number is passed as model name without spaces, a dash and the number, e.g. + `Rizon4s-063650`. +- Create a tool for the mounted gripper in Flexiv Elements -> Settings -> Tool and pass its name as + `tool_name`, so that gravity compensation accounts for the gripper. The Grav ships with a tool + definition, check the tool list in Elements for its name. +- The gripper device name is listed in Flexiv Elements -> Settings -> Device, `Flexiv-GN01` for the + Grav. +- Mounting angles and custom world frames configured in Flexiv Elements only affect the robot's own + gravity compensation and the frame of the poses the RDK reports. RCS computes poses from the + measured joints with its own model, so everything is in the base frame like in simulation. The + transform between the two frames is estimated at connect (`Flexiv.world_from_base`) and used + when commanding the robot's Cartesian controller. + +## Control modes + +`FlexivConfig.control_mode` selects which RDK controller tracks the targets RCS sends. All of them +are non-real-time modes in which the robot's internal motion generator smoothens the discrete +targets, so RCS never has to stream at 1 kHz. + +| `FlexivControlMode` | RDK mode | Tunable gains | +| ---------------------- | --------------------------- | ----------------------------------------- | +| `JOINT_POSITION` | `NRT_JOINT_POSITION` | none, stiff position tracking | +| `JOINT_IMPEDANCE` | `NRT_JOINT_IMPEDANCE` | `joint_stiffness`, `joint_damping_ratio` | +| `CARTESIAN_IMPEDANCE` | `NRT_CARTESIAN_MOTION_FORCE`| `cartesian_stiffness`, `cartesian_damping_ratio`, `max_contact_wrench`, `null_space_posture` | + +In the joint modes, RCS's Cartesian control modes go through the Pinocchio IK of the RCS robot +model, exactly like in simulation. In `CARTESIAN_IMPEDANCE` the target pose is handed to the +robot's own Cartesian controller instead; RCS converts its TCP (`tcp_offset`) to the TCP of the +active tool for that. Joint targets and `move_home` temporarily switch to joint impedance in that +mode, mode switches stop the arm. + +Stiffness values are absolute: `joint_stiffness` in Nm/rad within `[0, nominal]`, +`cartesian_stiffness` in N/m and Nm/rad within `[0, nominal]`. `None` means nominal, `0` makes an +axis free-floating. Damping ratios are within `[0.3, 0.8]`, `None` means the RDK default of 0.7. The +nominal values of the connected robot are available as `Flexiv.nominal_joint_stiffness` and +`Flexiv.nominal_cartesian_stiffness`, and the gains can be changed at runtime: + +```python +robot.set_joint_impedance(0.5 * robot.nominal_joint_stiffness) # softer +robot.set_joint_impedance(None) # back to nominal +``` + +## Sync and async control + +The RDK setters are non-blocking, they return once the target was delivered and the robot re-plans +its trajectory online. `FlexivConfig.async_control` and `FlexivGripperConfig.async_control` select +what the RCS setters do on top of that: + +- `async_control=True`: `set_joint_position`, `set_cartesian_position` and the gripper setters return + right away. Use this to stream targets, e.g. for teleoperation or policies running at a fixed rate. +- `async_control=False`: they poll the measured state every 5 ms until the target is within + `joint_tolerance` or `cartesian_tolerance` (`width_tolerance` for the gripper) and return on + `command_timeout` at the latest. In the impedance modes a target behind an obstacle is never + reached, which is what the timeout is for. The gripper additionally returns once the fingers + stopped on an object. + +`move_home` always blocks and uses the reduced `move_home_velocity`. Velocity and acceleration +limits of the internal trajectory generator are configured through `max_joint_velocity`, +`max_joint_acceleration` and the Cartesian counterparts. + +## Usage + +```python +from rcs.envs.base import ControlMode +from rcs_flexiv.configs import DefaultRizon4SHardwareEnv + +env_creator = DefaultRizon4SHardwareEnv() +env_creator.robot_sn = "Rizon4s-063650" +env_creator.tool_name = "Flexiv-GN01" + +cfg = env_creator.config() +cfg.control_mode = ControlMode.CARTESIAN_TQuat +cfg.robot_cfg.async_control = False + +env = env_creator.create_env(cfg) +obs, info = env.reset() +``` + +Without the env wrappers: + +```python +import rcs +from rcs import common +from rcs_flexiv.hw import Flexiv, FlexivConfig, FlexivControlMode, FlexivGripper, FlexivGripperConfig + +cfg = FlexivConfig(robot_sn="Rizon4s-063650", control_mode=FlexivControlMode.JOINT_IMPEDANCE, dof=7, ...) +ik = common.Pin(cfg.kinematic_model_path, cfg.attachment_site) +robot = Flexiv(cfg, ik) +gripper = FlexivGripper(FlexivGripperConfig(device_name="Flexiv-GN01"), robot) + +robot.move_home() +gripper.grasp() +robot.close() +``` + +The gripper is a device of the same robot connection, so `FlexivGripper` is created from the +`Flexiv` instance and `create_env` does the same. `Flexiv.get_state()` returns the external TCP +wrench and joint torque estimates of the RDK next to the fault and mode flags. + +See `src/rcs_flexiv/scripts/test_robot.py` for a bring-up script covering both control modes, a +stiffness change and the gripper, and +[examples/rizon4s/rizon4s_env_cartesian_control.py](../../examples/rizon4s/rizon4s_env_cartesian_control.py) +for a maintained Cartesian control example that runs in simulation and on hardware. + +## Dual arm setups + +`DefaultRizon4SDualMultiHardwareEnv` combines two arms with `MultiRobotWrapper`, one env per robot +connection, for the duo arrangement of `rcs/rizon4s_duo`: bases 0.3 m apart in y, each tilted 45 +degrees about x away from the other arm. Actions and observations are expressed in the shared base +frame between the two bases, `robot_to_shared_base_frame` holds the pose of each base in that frame +and can be replaced for other mounts. See +[examples/teleop/rizon.py](../../examples/teleop/rizon.py) for teleoperation of the duo with a Meta +Quest. + +```python +from rcs_flexiv.configs import DefaultRizon4SDualMultiHardwareEnv + +creator = DefaultRizon4SDualMultiHardwareEnv() +creator.left_sn, creator.right_sn = "Rizon4s-063650", "Rizon4s-654321" +env = creator.create_env(creator.config()) +``` + +## Safety notes + +- `Flexiv` clears minor faults and servos on during construction, and `RobotWrapper.reset` retries + homing after `automatic_error_recovery`. Keep a hand on the E-stop when bringing the robot up. +- The default `q_home` of the Rizon 4s in RCS points the flange straight down about 0.57 m in front + of the base. Verify it fits the setup before the first `reset`. +- Lowering the stiffness makes the arm sag under payload and follow targets less accurately. + Changing the damping ratio away from the default can cause instabilities, as the RDK documents. +- The Grav GN-01 with 48 V supply does not initialize on power-on and ignores commands until it has + been initialized. `FlexivGripperConfig(manual_init=True)`, the default of the env creators, triggers + the initialization on startup, during which the fingers move to both stops. + +## Simulation + +The matching simulated env is registered as `rcs/rizon4s` in core RCS with the Grav GN-01 as +gripper. The kinematics of `assets/robots/rizon4s/rizon4s.xml` match Flexiv's URDF, so joint and +Cartesian targets carry over between simulation and hardware. diff --git a/extensions/rcs_flexiv/pyproject.toml b/extensions/rcs_flexiv/pyproject.toml new file mode 100644 index 00000000..5aebc02f --- /dev/null +++ b/extensions/rcs_flexiv/pyproject.toml @@ -0,0 +1,31 @@ +[build-system] +requires = ["setuptools"] +build-backend = "setuptools.build_meta" + +[project] +name = "rcs_flexiv" +version = "0.7.2" +description = "RCS Flexiv module" +dependencies = [ + "rcs-core>=0.7.2", + # The RDK version must match the robot software: 1.9.2 is for Rizon robots on software v3.11.1. + # RDK 2.x only supports the Enlight series and has a different API. + "flexivrdk==1.9.2", + "numpy", +] +readme = "README.md" +license = "AGPL-3.0-or-later" +maintainers = [ + { name = "Tobias Juelg", email = "tobias.juelg@utn.de" }, +] +authors = [ + { name = "Tobias Juelg", email = "tobias.juelg@utn.de" }, +] +requires-python = ">=3.11" + +[tool.black] +line-length = 120 +target-version = ["py310"] + +[tool.isort] +profile = "black" diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/__init__.py b/extensions/rcs_flexiv/src/rcs_flexiv/__init__.py new file mode 100644 index 00000000..d7f62a73 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/__init__.py @@ -0,0 +1,10 @@ +from rcs_flexiv import configs, creators, hw + +__version__ = "0.7.2" + +__all__ = [ + "configs", + "creators", + "hw", + "__version__", +] diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/configs.py b/extensions/rcs_flexiv/src/rcs_flexiv/configs.py new file mode 100644 index 00000000..d43be097 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/configs.py @@ -0,0 +1,99 @@ +import rcs +from rcs._core.common import RobotType +from rcs.envs.base import ControlMode, RelativeTo + +from rcs_flexiv.creators import ( + FlexivHardwareEnvCreatorConfig, + FlexivMultiHardwareEnvCreatorConfig, + RCSFlexivConfigEnvCreator, + RCSFlexivMultiConfigEnvCreator, +) +from rcs_flexiv.hw import FlexivConfig, FlexivControlMode, FlexivGripperConfig + + +class DefaultRizon4SHardwareEnv(RCSFlexivConfigEnvCreator): + """Rizon 4s with a Grav GN-01 gripper, Cartesian control through RCS's IK and joint impedance on the robot.""" + + robot_sn = "Rizon4s-063650" + gripper_device_name = "Flexiv-GN01" + """Gripper device name from Flexiv Elements -> Settings -> Device.""" + gripper_manual_init = True + """Trigger the gripper's initialization on startup. Needed for grippers that do not initialize on power-on + like the 48 V Grav, harmless otherwise. The fingers move to both stops during initialization.""" + tool_name: str | None = None + """Tool to activate from Flexiv Elements -> Settings -> Tool, e.g. the one created for the Grav. None keeps the + active tool. The active tool matters for gravity compensation, so it should match the mounted gripper.""" + + def config(self) -> FlexivHardwareEnvCreatorConfig: + robot_type = RobotType("Rizon4S") + gripper_type = rcs.common.GripperType("FlexivGrav") + robot_cfg = FlexivConfig( + robot_sn=self.robot_sn, + control_mode=FlexivControlMode.JOINT_IMPEDANCE, + async_control=False, + tool_name=self.tool_name, + robot_type=robot_type, + kinematic_model_path=rcs.ROBOTS[robot_type].mjcf_model_path, + attachment_site=rcs.ROBOTS[robot_type].attachment_site, + dof=rcs.ROBOTS[robot_type].dof, + joint_limits=rcs.ROBOTS[robot_type].joint_limits, + q_home=rcs.ROBOTS[robot_type].q_home, + tcp_offset=rcs.GRIPPER_TCP_OFFSETS[gripper_type], + ) + + gripper_cfg = FlexivGripperConfig( + device_name=self.gripper_device_name, + manual_init=self.gripper_manual_init, + async_control=False, + gripper_type=gripper_type, + ) + + return FlexivHardwareEnvCreatorConfig( + control_mode=ControlMode.CARTESIAN_TQuat, + robot_cfg=robot_cfg, + gripper_cfg=gripper_cfg, + max_relative_movement=0.2, + relative_to=RelativeTo.LAST_STEP, + ) + + +class DefaultRizon4SDualMultiHardwareEnv(RCSFlexivMultiConfigEnvCreator): + """Two Rizon 4s in the duo arrangement of `rcs/rizon4s_duo`: bases 0.3 m apart in y, each tilted 45 degrees + about x away from the other arm (right +45, left -45 degrees). Both arms run in async mode, as needed for + teleoperation.""" + + left_sn = "Rizon4s-063650" + right_sn = "Rizon4s-654321" + gripper_device_name = "Flexiv-GN01" + gripper_manual_init = True + tool_name: str | None = None + + def config(self) -> FlexivMultiHardwareEnvCreatorConfig: + base = DefaultRizon4SHardwareEnv() + base.gripper_device_name = self.gripper_device_name + base.gripper_manual_init = self.gripper_manual_init + base.tool_name = self.tool_name + + robot_cfgs = {} + gripper_cfgs: dict[str, FlexivGripperConfig | None] = {} + for name, sn in (("left", self.left_sn), ("right", self.right_sn)): + base.robot_sn = sn + cfg = base.config() + cfg.robot_cfg.async_control = True + cfg.robot_cfg.q_home = rcs.HOME_POSITIONS[f"RIZON4S_DUO_{name.upper()}"] + assert cfg.gripper_cfg is not None + cfg.gripper_cfg.async_control = True + robot_cfgs[name] = cfg.robot_cfg + gripper_cfgs[name] = cfg.gripper_cfg + + return FlexivMultiHardwareEnvCreatorConfig( + control_mode=ControlMode.CARTESIAN_TQuat, + robot_cfgs=robot_cfgs, + gripper_cfgs=gripper_cfgs, + max_relative_movement=0.2, + relative_to=RelativeTo.LAST_STEP, + robot_to_shared_base_frame={ + "left": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_LEFT_ROBOT"], + "right": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_RIGHT_ROBOT"], + }, + ) diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/creators.py b/extensions/rcs_flexiv/src/rcs_flexiv/creators.py new file mode 100644 index 00000000..a52bb0dc --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/creators.py @@ -0,0 +1,161 @@ +import logging +import typing +from dataclasses import dataclass, field + +import gymnasium as gym +import rcs +from rcs._core.common import BaseCameraConfig +from rcs.camera.hw import DummyCalibrationStrategy, HardwareCamera, HardwareCameraSet +from rcs.envs.base import ( + CameraSetWrapper, + ControlMode, + CoverWrapper, + GripperWrapper, + HardwareEnv, + MultiRobotWrapper, + RelativeActionSpace, + RelativeTo, + RobotWrapper, +) +from rcs.envs.scenes import RCSEnvCreator, WrapperConfig + +from rcs_flexiv.hw import Flexiv, FlexivConfig, FlexivGripper, FlexivGripperConfig + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + + +@dataclass(kw_only=True) +class HardwareCameraCreatorConfig: + camera_type_id: str + camera_cfgs: dict[str, BaseCameraConfig] + kwargs: dict[str, typing.Any] = field(default_factory=dict) + + +def _create_realsense_camera(cfg: HardwareCameraCreatorConfig) -> HardwareCamera: + try: + from rcs.camera.hw import CalibrationStrategy + from rcs_realsense.camera import RealSenseCameraSet + except ImportError as e: + msg = "RealSense camera support requires the `rcs_realsense` extension to be installed." + raise ImportError(msg) from e + + calibration_strategy = { + name: typing.cast(CalibrationStrategy, DummyCalibrationStrategy()) for name in cfg.camera_cfgs + } + return typing.cast( + HardwareCamera, + RealSenseCameraSet(cameras=cfg.camera_cfgs, calibration_strategy=calibration_strategy, **cfg.kwargs), + ) + + +HARDWARE_CAMERA_CREATORS: dict[str, typing.Callable[[HardwareCameraCreatorConfig], HardwareCamera]] = { + "realsense": _create_realsense_camera, +} + + +def _create_hardware_camera_set( + camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None, +) -> HardwareCameraSet | None: + if camera_cfgs is None: + return None + cameras: list[HardwareCamera] = [] + for cfg in camera_cfgs.values(): + if cfg.camera_type_id not in HARDWARE_CAMERA_CREATORS: + msg = f"Unknown hardware camera type id: {cfg.camera_type_id}" + raise ValueError(msg) + cameras.append(HARDWARE_CAMERA_CREATORS[cfg.camera_type_id](cfg)) + return HardwareCameraSet(cameras) if cameras else None + + +@dataclass(kw_only=True) +class FlexivHardwareEnvCreatorConfig: + robot_cfg: FlexivConfig + control_mode: ControlMode + gripper_cfg: FlexivGripperConfig | None = None + camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None = None + max_relative_movement: float | tuple[float, float] | None = None + relative_to: RelativeTo = RelativeTo.LAST_STEP + frequency: float | None = None + """Control frequency in Hz, rate limits env.step(). None disables rate limiting.""" + wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig) + + +class RCSFlexivConfigEnvCreator(RCSEnvCreator[FlexivHardwareEnvCreatorConfig]): + def create_env(self, cfg: FlexivHardwareEnvCreatorConfig) -> gym.Env: + ik = rcs.common.Pin( + cfg.robot_cfg.kinematic_model_path, + cfg.robot_cfg.attachment_site, + urdf=cfg.robot_cfg.kinematic_model_path.endswith(".urdf"), + ) + robot = Flexiv(cfg.robot_cfg, ik) + env: gym.Env = HardwareEnv(frequency=cfg.frequency) + env = RobotWrapper(env, robot, cfg.control_mode, home_on_reset=cfg.wrapper_cfg.home_on_reset) + + if cfg.gripper_cfg is not None: + # The gripper is a device of the same robot connection, so it shares the robot handle. + gripper = FlexivGripper(cfg.gripper_cfg, robot) + env = GripperWrapper(env, gripper, binary=cfg.wrapper_cfg.binary_gripper) + + camera_set = _create_hardware_camera_set(cfg.camera_cfgs) + if camera_set is not None: + camera_set.start() + camera_set.wait_for_frames() + logger.info("CameraSet started") + env = CameraSetWrapper(env, camera_set, cfg.wrapper_cfg.include_depth) + + if cfg.relative_to != RelativeTo.NONE: + env = RelativeActionSpace(env, max_mov=cfg.max_relative_movement, relative_to=cfg.relative_to) + return CoverWrapper(env) + + def config(self) -> FlexivHardwareEnvCreatorConfig: + msg = "Implement config() in a subclass or pass `cfg=` explicitly." + raise NotImplementedError(msg) + + +@dataclass(kw_only=True) +class FlexivMultiHardwareEnvCreatorConfig: + robot_cfgs: dict[str, FlexivConfig] + control_mode: ControlMode + gripper_cfgs: dict[str, FlexivGripperConfig | None] | None = None + camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None = None + max_relative_movement: float | tuple[float, float] | None = None + relative_to: RelativeTo = RelativeTo.LAST_STEP + robot_to_shared_base_frame: dict[str, rcs.common.Pose] | None = None + """Pose of each robot's base in the shared base frame, in which actions and observations are expressed.""" + frequency: float | None = None + """Control frequency in Hz, rate limits env.step(). None disables rate limiting.""" + wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig) + + +class RCSFlexivMultiConfigEnvCreator(RCSEnvCreator[FlexivMultiHardwareEnvCreatorConfig]): + def create_env(self, cfg: FlexivMultiHardwareEnvCreatorConfig) -> gym.Env: + envs: dict[str, gym.Env] = {} + for robot_name, robot_cfg in cfg.robot_cfgs.items(): + envs[robot_name] = RCSFlexivConfigEnvCreator().create_env( + FlexivHardwareEnvCreatorConfig( + robot_cfg=robot_cfg, + control_mode=cfg.control_mode, + gripper_cfg=cfg.gripper_cfgs[robot_name] if cfg.gripper_cfgs is not None else None, + # The cameras observe the whole scene, so they are attached once around the + # combined env instead of per arm. + camera_cfgs=None, + max_relative_movement=cfg.max_relative_movement, + relative_to=cfg.relative_to, + frequency=cfg.frequency, + wrapper_cfg=cfg.wrapper_cfg, + ) + ) + + env: gym.Env = MultiRobotWrapper(envs, cfg.robot_to_shared_base_frame) + camera_set = _create_hardware_camera_set(cfg.camera_cfgs) + if camera_set is not None: + camera_set.start() + camera_set.wait_for_frames() + logger.info("CameraSet started") + env = CameraSetWrapper(env, camera_set, cfg.wrapper_cfg.include_depth) + return CoverWrapper(env) + + def config(self) -> FlexivMultiHardwareEnvCreatorConfig: + msg = "Implement config() in a subclass or pass `cfg=` explicitly." + raise NotImplementedError(msg) diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/hw.py b/extensions/rcs_flexiv/src/rcs_flexiv/hw.py new file mode 100644 index 00000000..378c7023 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/hw.py @@ -0,0 +1,673 @@ +"""Hardware abstraction layer for Flexiv robots and grippers, built on the Flexiv RDK 1.9 Python bindings. + +RDK 1.9.x is the release line for the Rizon series (robot software v3.9 to v3.11), RDK 2.x only supports the +Enlight series and has a different, joint-group based API. + +The arm is driven through the RDK's non-real-time (NRT) control modes, in which the robot's internal +motion generator smoothens the discrete targets RCS sends. Sending a new target while the previous +motion is ongoing re-plans online, which is what makes the async control mode work. The controller +gains of the underlying impedance controllers are exposed through `FlexivConfig`. + +The gripper (e.g. the Grav GN-01) is controlled through the RDK gripper device interface of the same +robot connection, so `FlexivGripper` is created from a `Flexiv` instance. +""" + +import enum +import logging +import time +import typing + +import numpy as np +from rcs import common +from rcs.common_typing import GripperConfigKwargs, RobotConfigKwargs + +logger = logging.getLogger(__name__) + + +class FlexivControlMode(enum.Enum): + """Which RDK controller tracks the targets RCS sends.""" + + JOINT_POSITION = "joint_position" + """NRT_JOINT_POSITION: stiff joint position control, no gains to tune.""" + JOINT_IMPEDANCE = "joint_impedance" + """NRT_JOINT_IMPEDANCE: joint impedance control, stiffness and damping ratio per joint are configurable.""" + CARTESIAN_IMPEDANCE = "cartesian_impedance" + """NRT_CARTESIAN_MOTION_FORCE: Cartesian impedance control with the robot's own IK, stiffness and damping + ratio per Cartesian axis are configurable. Joint targets temporarily switch to a joint mode.""" + + +class FlexivConfig(common.RobotConfig): + """Configuration of a single Flexiv arm.""" + + def __init__( + self, + robot_sn: str, + control_mode: FlexivControlMode = FlexivControlMode.JOINT_IMPEDANCE, + async_control: bool = True, + tool_name: str | None = None, + joint_stiffness: np.ndarray | None = None, + joint_damping_ratio: np.ndarray | None = None, + cartesian_stiffness: np.ndarray | None = None, + cartesian_damping_ratio: np.ndarray | None = None, + max_contact_wrench: np.ndarray | None = None, + null_space_posture: np.ndarray | None = None, + max_joint_velocity: float = 1.0, + max_joint_acceleration: float = 2.0, + move_home_velocity: float = 0.5, + max_linear_velocity: float = 0.5, + max_angular_velocity: float = 1.0, + max_linear_acceleration: float = 2.0, + max_angular_acceleration: float = 5.0, + joint_tolerance: float = 0.01, + cartesian_tolerance: tuple[float, float] = (0.002, 0.02), + command_timeout: float = 5.0, + startup_timeout: float = 30.0, + verbose: bool = False, + **kwargs: typing.Unpack[RobotConfigKwargs], + ): + """ + Args: + robot_sn: Serial number of the robot, e.g. "Rizon4s-123456". Same format as accepted by `flexivrdk.Robot`. + control_mode: RDK controller used to track targets, see `FlexivControlMode`. + async_control: If True, the setters return once the target was handed to the robot. If False, they poll + the measured state until the target is reached within tolerance or `command_timeout` hits. + tool_name: Name of the tool (Flexiv Elements -> Settings -> Tool) to activate on the robot. The active + tool determines the gravity compensation and the TCP the robot's Cartesian controller uses. None keeps + the currently active tool. + joint_stiffness: K_q in Nm/rad for the joint impedance mode, one value per joint in + [0, nominal]. None uses the robot's nominal stiffness, 0 makes a joint free-floating. + joint_damping_ratio: Z_q for the joint impedance mode, one value per joint in [0.3, 0.8]. None uses the + RDK default of 0.7. + cartesian_stiffness: K_x in N/m and Nm/rad for the Cartesian impedance mode, + [k_x, k_y, k_z, k_Rx, k_Ry, k_Rz] in [0, nominal]. None uses the robot's nominal stiffness. + cartesian_damping_ratio: Z_x for the Cartesian impedance mode, six values in [0.3, 0.8]. None uses the RDK + default of 0.7. + max_contact_wrench: Maximum contact force and moment [f_x, f_y, f_z, m_x, m_y, m_z] the Cartesian + impedance mode regulates its output to. None disables the regulation. + null_space_posture: Reference joint positions for the null-space posture control of the Cartesian + impedance mode. None keeps the RDK default, the joint positions when the mode was entered. + max_joint_velocity: Joint velocity limit in rad/s of the internal trajectory generator for joint targets. + max_joint_acceleration: Joint acceleration limit in rad/s^2 for joint targets. + move_home_velocity: Joint velocity limit in rad/s used for `move_home`. + max_linear_velocity: TCP velocity limit in m/s for Cartesian targets in the Cartesian impedance mode. + max_angular_velocity: TCP angular velocity limit in rad/s for Cartesian targets. + max_linear_acceleration: TCP acceleration limit in m/s^2 for Cartesian targets. + max_angular_acceleration: TCP angular acceleration limit in rad/s^2 for Cartesian targets. + joint_tolerance: Joint error in rad below which a synchronous joint command counts as reached. + cartesian_tolerance: Translation error in m and rotation error in rad below which a synchronous Cartesian + command counts as reached. + command_timeout: Seconds after which a synchronous command returns even if the target was not reached, + e.g. because the arm is blocked by a contact. + startup_timeout: Seconds to wait for the robot to become operational after servo on. + verbose: Enable the info and warning prints of the RDK. + """ + super().__init__(**kwargs) + self.robot_platform = common.RobotPlatform.HARDWARE + self.robot_sn = robot_sn + self.control_mode = control_mode + self.async_control = async_control + self.tool_name = tool_name + self.joint_stiffness = joint_stiffness + self.joint_damping_ratio = joint_damping_ratio + self.cartesian_stiffness = cartesian_stiffness + self.cartesian_damping_ratio = cartesian_damping_ratio + self.max_contact_wrench = max_contact_wrench + self.null_space_posture = null_space_posture + self.max_joint_velocity = max_joint_velocity + self.max_joint_acceleration = max_joint_acceleration + self.move_home_velocity = move_home_velocity + self.max_linear_velocity = max_linear_velocity + self.max_angular_velocity = max_angular_velocity + self.max_linear_acceleration = max_linear_acceleration + self.max_angular_acceleration = max_angular_acceleration + self.joint_tolerance = joint_tolerance + self.cartesian_tolerance = cartesian_tolerance + self.command_timeout = command_timeout + self.startup_timeout = startup_timeout + self.verbose = verbose + + +class FlexivRobotState(common.RobotState): + """Snapshot of the RDK robot states that are useful on top of the RCS observations.""" + + def __init__(self, states: typing.Any, mode: str, operational: bool, fault: bool) -> None: + super().__init__() + self.q = np.asarray(states.q, dtype=np.float64) + self.dq = np.asarray(states.dq, dtype=np.float64) + self.tau = np.asarray(states.tau, dtype=np.float64) + self.tau_ext = np.asarray(states.tau_ext, dtype=np.float64) + self.tcp_wrench = np.asarray(states.ext_wrench_in_world, dtype=np.float64) + """External wrench at the TCP in the RDK's world frame [f_x, f_y, f_z, m_x, m_y, m_z].""" + self.flange_pose = np.asarray(states.flange_pose, dtype=np.float64) + """[x, y, z, q_w, q_x, q_y, q_z] in the RDK's world frame, as reported by the RDK.""" + self.mode = mode + self.operational = operational + self.fault = fault + + +def _pose_from_rdk(pose7: typing.Sequence[float]) -> common.Pose: + """RDK poses are [x, y, z, q_w, q_x, q_y, q_z], RCS quaternions are [x, y, z, w].""" + p = np.asarray(pose7, dtype=np.float64) + return common.Pose(translation=p[:3], quaternion=np.array([p[4], p[5], p[6], p[3]])) + + +def _pose_to_rdk(pose: common.Pose) -> list[float]: + return [*pose.translation().tolist(), *pose.rotation_q_wxyz().tolist()] + + +class Flexiv(common.Robot): + """RCS robot backed by `flexivrdk.Robot`.""" + + POLL_INTERVAL = 0.005 + + def __init__(self, cfg: FlexivConfig, ik: common.Kinematics): + super().__init__() + import flexivrdk + + self._rdk = flexivrdk + self._closed = True + self.ik = ik + self._config = cfg + self._dof = int(cfg.dof) + self._rdk_modes = { + FlexivControlMode.JOINT_POSITION: flexivrdk.Mode.NRT_JOINT_POSITION, + FlexivControlMode.JOINT_IMPEDANCE: flexivrdk.Mode.NRT_JOINT_IMPEDANCE, + FlexivControlMode.CARTESIAN_IMPEDANCE: flexivrdk.Mode.NRT_CARTESIAN_MOTION_FORCE, + } + + self._robot = flexivrdk.Robot(cfg.robot_sn, [], cfg.verbose) + self._closed = False + self._make_operational() + self._info = self._robot.info() + if int(self._info.DoF) != self._dof: + msg = f"The robot has {self._info.DoF} joints, but the config expects dof={self._dof}." + raise ValueError(msg) + + self._tool = flexivrdk.Tool(self._robot) + if cfg.tool_name is not None: + self._tool.Switch(cfg.tool_name) + self._tool_tcp = self._read_tool_tcp() + self._world_from_base = self._estimate_world_from_base() + + self._ensure_mode(cfg.control_mode) + logger.info( + "Connected to %s (%s, robot software %s) with tool %s in %s.", + self._info.serial_num, + self._info.model_name, + self._info.software_ver, + self._tool.name(), + cfg.control_mode.value, + ) + + @property + def world_from_base(self) -> common.Pose: + """Pose of the robot base in the RDK's world frame, estimated at connect. + + The RDK reports and accepts Cartesian poses in the robot's world frame, which differs from the base frame + when a mounting angle or a custom world frame was configured in Flexiv Elements. RCS works in the base + frame like in simulation and uses this transform to talk to the RDK's Cartesian controller. + """ + return self._world_from_base + + def __del__(self): + self.close() + + # ------------------------------------------------------------------ RDK access for the gripper + + @property + def rdk_robot(self) -> typing.Any: + """The underlying `flexivrdk.Robot`, shared with the gripper interface.""" + return self._robot + + # ------------------------------------------------------------------ common.Robot interface + + def close(self) -> None: + if self._closed: + return + self._closed = True + try: + # Stop() halts any ongoing motion and puts the robot into IDLE. + self._robot.Stop() + except Exception as e: + logger.warning("Stopping the robot on close failed: %s", e) + + def get_config(self) -> FlexivConfig: + return self._config + + def set_config(self, robot_cfg: FlexivConfig) -> None: + """Replaces the config and re-applies the impedance settings if the robot is in the affected mode.""" + self._config = robot_cfg + if robot_cfg.tool_name is not None and robot_cfg.tool_name != self._tool.name(): + self._tool.Switch(robot_cfg.tool_name) + self._tool_tcp = self._read_tool_tcp() + self._ensure_mode(robot_cfg.control_mode) + + def get_state(self) -> FlexivRobotState: + return FlexivRobotState(self._states(), self._robot.mode().name, self._robot.operational(), self._robot.fault()) + + def get_ik(self) -> common.Kinematics | None: + return self.ik + + def reset(self) -> None: + pass + + def automatic_error_recovery(self) -> None: + """Called by `RobotWrapper.reset` when homing raises: clears faults, enables the robot and restores the mode.""" + self._make_operational() + self._ensure_mode(self._config.control_mode) + + def get_joint_position(self) -> np.ndarray[tuple[typing.Any], np.dtype[np.float64]]: + return np.asarray(self._states().q, dtype=np.float64) + + def get_cartesian_flange_position(self) -> common.Pose: + # Computed from the measured joints with the RCS model, so that the pose is in the base frame regardless + # of the world frame configured on the robot, and matches what the simulation reports. + return self.ik.forward(self.get_joint_position(), common.Pose()) + + def get_cartesian_position(self) -> common.Pose: + return self.get_cartesian_flange_position() * self._config.tcp_offset + + def set_joint_position(self, q: np.ndarray[tuple[typing.Any], np.dtype[np.float64]]) -> None: + q = np.asarray(q, dtype=np.float64) + if q.shape != (self._dof,): + msg = f"Expected {self._dof} joint positions, got shape {q.shape}." + raise ValueError(msg) + self._send_joint_target(q, self._config.max_joint_velocity) + if not self._config.async_control: + self._wait_for_joints(q, self._config.command_timeout) + + def set_cartesian_position(self, pose: common.Pose) -> None: + if self._config.control_mode != FlexivControlMode.CARTESIAN_IMPEDANCE: + q = self.ik.inverse(pose, self.get_joint_position(), self._config.tcp_offset) + if q is None: + logger.warning("IK failed for %s", pose) + return + self.set_joint_position(np.asarray(q, dtype=np.float64)) + return + + self._ensure_mode(FlexivControlMode.CARTESIAN_IMPEDANCE) + # The RDK tracks the pose of the active tool's TCP in its world frame, RCS commands the pose of its own + # TCP offset in the base frame. + rdk_target = self._world_from_base * pose * self._config.tcp_offset.inverse() * self._tool_tcp + self._robot.SendCartesianMotionForce( + _pose_to_rdk(rdk_target), + [0.0] * 6, + [0.0] * 6, + self._config.max_linear_velocity, + self._config.max_angular_velocity, + self._config.max_linear_acceleration, + self._config.max_angular_acceleration, + ) + if not self._config.async_control: + self._wait_for_pose(pose, self._config.command_timeout) + + def move_home(self) -> None: + """Moves to `q_home` with the reduced `move_home_velocity`, or runs the RDK Home primitive if unset. + + Always blocks until the home pose is reached, also in async mode. + """ + if self._config.q_home is None: + logger.info("No q_home configured, running the RDK Home primitive.") + self._run_home_primitive() + return + home = np.asarray(self._config.q_home, dtype=np.float64) + low, high = self._config.joint_limits + if np.any((home < low) | (home > high)): + msg = f"Home position {home} is out of joint limits." + raise ValueError(msg) + logger.info("Moving to home position: %s", home) + distance = float(np.max(np.abs(home - self.get_joint_position()))) + self._send_joint_target(home, self._config.move_home_velocity) + # Generous timeout: the trajectory generator also has to accelerate and decelerate. + self._wait_for_joints(home, distance / self._config.move_home_velocity + self._config.command_timeout) + + # ------------------------------------------------------------------ impedance settings + + @property + def nominal_joint_stiffness(self) -> np.ndarray: + """Nominal (maximum) joint stiffness K_q of the robot in Nm/rad.""" + return np.asarray(self._info.K_q_nom, dtype=np.float64) + + @property + def nominal_cartesian_stiffness(self) -> np.ndarray: + """Nominal (maximum) Cartesian stiffness K_x of the robot in N/m and Nm/rad.""" + return np.asarray(self._info.K_x_nom, dtype=np.float64) + + def set_joint_impedance(self, stiffness: np.ndarray | None, damping_ratio: np.ndarray | None = None) -> None: + """Updates K_q and Z_q of the joint impedance controller, applied immediately if that mode is active. + + None restores the nominal stiffness or the default damping ratio. + """ + self._config.joint_stiffness = None if stiffness is None else np.asarray(stiffness, dtype=np.float64) + self._config.joint_damping_ratio = ( + None if damping_ratio is None else np.asarray(damping_ratio, dtype=np.float64) + ) + if self._robot.mode() == self._rdk_modes[FlexivControlMode.JOINT_IMPEDANCE]: + self._apply_joint_impedance() + + def set_cartesian_impedance(self, stiffness: np.ndarray | None, damping_ratio: np.ndarray | None = None) -> None: + """Updates K_x and Z_x of the Cartesian impedance controller, applied immediately if that mode is active. + + None restores the nominal stiffness or the default damping ratio. + """ + self._config.cartesian_stiffness = None if stiffness is None else np.asarray(stiffness, dtype=np.float64) + self._config.cartesian_damping_ratio = ( + None if damping_ratio is None else np.asarray(damping_ratio, dtype=np.float64) + ) + if self._robot.mode() == self._rdk_modes[FlexivControlMode.CARTESIAN_IMPEDANCE]: + self._apply_cartesian_impedance() + + # ------------------------------------------------------------------ internals + + def _states(self) -> typing.Any: + return self._robot.states() + + def _run_home_primitive(self) -> None: + """Runs the Home primitive of the robot and restores the configured control mode afterwards.""" + self._robot.SwitchMode(self._rdk.Mode.NRT_PRIMITIVE_EXECUTION) + self._robot.ExecutePrimitive("Home", {}) + deadline = time.time() + self._config.command_timeout + 30.0 + while not self._robot.primitive_states().get("reachedTarget", 0): + if self._robot.fault(): + msg = "Robot fault while homing." + raise RuntimeError(msg) + if time.time() > deadline: + msg = "The Home primitive did not reach its target in time." + raise RuntimeError(msg) + time.sleep(0.1) + self._ensure_mode(self._config.control_mode) + + def _make_operational(self) -> None: + if self._robot.fault(): + logger.warning("Robot is in fault state, trying to clear it.") + if not self._robot.ClearFault(): + msg = "Could not clear the robot fault, check Flexiv Elements." + raise RuntimeError(msg) + if not self._robot.operational(): + if not self._robot.estop_released(): + msg = "The emergency stop is pressed, release it and try again." + raise RuntimeError(msg) + self._robot.Enable() + deadline = time.time() + self._config.startup_timeout + while not self._robot.operational(): + if time.time() > deadline: + status = self._robot.operational_status().name + msg = f"Robot did not become operational within {self._config.startup_timeout} s, status: {status}." + raise RuntimeError(msg) + time.sleep(0.5) + logger.info("Robot is operational.") + + def _estimate_world_from_base(self) -> common.Pose: + """Compares the RDK's flange pose with the model's FK at the same joints to find the world frame.""" + states = self._states() + flange_in_world = _pose_from_rdk(states.flange_pose) + flange_in_base = self.ik.forward(np.asarray(states.q, dtype=np.float64), common.Pose()) + world_from_base = flange_in_world * flange_in_base.inverse() + angle = np.rad2deg(world_from_base.total_angle()) + offset = np.linalg.norm(world_from_base.translation()) + if angle > 0.5 or offset > 0.005: + logger.info( + "The robot's world frame is rotated by %.1f deg and offset by %.3f m from its base frame, e.g. due to " + "a configured mounting angle. RCS keeps working in the base frame.", + angle, + offset, + ) + elif angle > 0.1 or offset > 0.001: + logger.warning( + "The RDK flange pose and the RCS model disagree by %.2f deg / %.4f m, check the robot model.", + angle, + offset, + ) + return world_from_base + + def _read_tool_tcp(self) -> common.Pose: + """Pose of the active tool's TCP in the flange frame, identity if it cannot be read.""" + try: + return _pose_from_rdk(self._tool.params().tcp_location) + except Exception as e: + logger.warning("Could not read the active tool parameters, assuming the TCP is at the flange: %s", e) + return common.Pose() + + def _ensure_mode(self, mode: FlexivControlMode) -> None: + """Switches the robot into the RDK mode of `mode` if needed and applies the matching settings.""" + rdk_mode = self._rdk_modes[mode] + if self._robot.mode() != rdk_mode: + # SwitchMode stops any ongoing motion and blocks until the transition is done. + self._robot.SwitchMode(rdk_mode) + if mode == FlexivControlMode.JOINT_IMPEDANCE: + self._apply_joint_impedance() + elif mode == FlexivControlMode.CARTESIAN_IMPEDANCE: + self._apply_cartesian_impedance() + + def _joint_mode(self) -> FlexivControlMode: + """The mode used for joint targets: the configured one, or joint impedance when Cartesian is configured.""" + if self._config.control_mode == FlexivControlMode.CARTESIAN_IMPEDANCE: + return FlexivControlMode.JOINT_IMPEDANCE + return self._config.control_mode + + def _apply_joint_impedance(self) -> None: + cfg = self._config + k_q = self.nominal_joint_stiffness if cfg.joint_stiffness is None else np.asarray(cfg.joint_stiffness) + z_q = [] if cfg.joint_damping_ratio is None else np.asarray(cfg.joint_damping_ratio).tolist() + self._robot.SetJointImpedance(k_q.tolist(), z_q) + + def _apply_cartesian_impedance(self) -> None: + cfg = self._config + k_x = ( + self.nominal_cartesian_stiffness if cfg.cartesian_stiffness is None else np.asarray(cfg.cartesian_stiffness) + ) + if cfg.cartesian_damping_ratio is None: + self._robot.SetCartesianImpedance(k_x.tolist()) + else: + self._robot.SetCartesianImpedance(k_x.tolist(), np.asarray(cfg.cartesian_damping_ratio).tolist()) + max_wrench = ( + [float("inf")] * 6 if cfg.max_contact_wrench is None else np.asarray(cfg.max_contact_wrench).tolist() + ) + self._robot.SetMaxContactWrench(max_wrench) + if cfg.null_space_posture is not None: + self._robot.SetNullSpacePosture(np.asarray(cfg.null_space_posture).tolist()) + + def _send_joint_target(self, q: np.ndarray, max_velocity: float) -> None: + self._ensure_mode(self._joint_mode()) + self._robot.SendJointPosition( + q.tolist(), + [0.0] * self._dof, + [float(max_velocity)] * self._dof, + [float(self._config.max_joint_acceleration)] * self._dof, + ) + + def _wait_for_joints(self, q: np.ndarray, timeout: float) -> None: + deadline = time.time() + timeout + while time.time() < deadline: + if self._robot.fault(): + msg = "Robot fault while waiting for a joint target." + raise RuntimeError(msg) + if np.max(np.abs(self.get_joint_position() - q)) < self._config.joint_tolerance: + return + time.sleep(self.POLL_INTERVAL) + logger.warning("Joint target not reached within %.1f s.", timeout) + + def _wait_for_pose(self, pose: common.Pose, timeout: float) -> None: + eps_t, eps_r = self._config.cartesian_tolerance + deadline = time.time() + timeout + while time.time() < deadline: + if self._robot.fault(): + msg = "Robot fault while waiting for a Cartesian target." + raise RuntimeError(msg) + if self.get_cartesian_position().is_close(pose, eps_r=eps_r, eps_t=eps_t): + return + time.sleep(self.POLL_INTERVAL) + logger.warning("Cartesian target not reached within %.1f s.", timeout) + + +class FlexivGripperConfig(common.GripperConfig): + """Configuration of a gripper controlled through the RDK gripper device interface.""" + + def __init__( + self, + device_name: str = "Flexiv-GN01", + async_control: bool = True, + manual_init: bool = False, + init_timeout: float = 15.0, + velocity: float | None = None, + force_limit: float | None = None, + grasp_force: float | None = None, + force_control_grasp: bool = False, + width_tolerance: float = 0.002, + command_timeout: float = 3.0, + **kwargs: typing.Unpack[GripperConfigKwargs], + ) -> None: + """ + Args: + device_name: Name of the gripper device in Flexiv Elements -> Settings -> Device. + async_control: If True, commands return once they were handed to the robot. If False, they poll the + gripper state until the target width is reached, the fingers stopped on an object or + `command_timeout` hits. + manual_init: Trigger the gripper's initialization sequence on startup. Needed for grippers that do not + initialize themselves on power-on, such as the 48 V Grav. + init_timeout: Seconds to wait for the initialization sequence to finish. + velocity: Finger velocity in m/s within the gripper's limits. None uses the maximum. + force_limit: Maximum contact force in N for width commands. None uses half of the gripper's maximum. + grasp_force: Force in N used by `grasp`. None uses `force_limit`. + force_control_grasp: If True, `grasp` uses the RDK's direct force control (the fingers close until + `grasp_force` is reached). If False, `grasp` is a width command to the closed position with + `grasp_force` as force limit, which works on every gripper. + width_tolerance: Width error in m below which a synchronous command counts as reached. + command_timeout: Seconds after which a synchronous command returns even if the width was not reached. + """ + super().__init__(**kwargs) + self.gripper_type = common.GripperType("FlexivGrav") + self.device_name = device_name + self.async_control = async_control + self.manual_init = manual_init + self.init_timeout = init_timeout + self.velocity = velocity + self.force_limit = force_limit + self.grasp_force = grasp_force + self.force_control_grasp = force_control_grasp + self.width_tolerance = width_tolerance + self.command_timeout = command_timeout + + +class FlexivGripperState(common.GripperState): + def __init__(self, states: typing.Any) -> None: + super().__init__() + self.width = float(states.width) + """Finger opening in m.""" + self.force = float(states.force) + """Finger force in N, positive when opening, negative when closing, 0 without force sensing.""" + self.is_moving = bool(states.is_moving) + + +class FlexivGripper(common.Gripper): + """RCS gripper controlled through the RDK gripper interface of a `Flexiv` robot.""" + + POLL_INTERVAL = 0.01 + + def __init__(self, cfg: FlexivGripperConfig, robot: Flexiv): + super().__init__() + import flexivrdk + + self._cfg = cfg + self._robot = robot + self._gripper = flexivrdk.Gripper(robot.rdk_robot) + self._gripper.Enable(cfg.device_name) + if cfg.manual_init: + self._initialize() + params = self._gripper.params() + self._min_width = float(params.min_width) + self._max_width = float(params.max_width) + self._velocity = float(np.clip(cfg.velocity or params.max_vel, params.min_vel, params.max_vel)) + force_limit = cfg.force_limit if cfg.force_limit is not None else 0.5 * params.max_force + self._force_limit = float(np.clip(force_limit, params.min_force, params.max_force)) + grasp_force = cfg.grasp_force if cfg.grasp_force is not None else self._force_limit + self._grasp_force = float(np.clip(grasp_force, params.min_force, params.max_force)) + self._closing = False + logger.info( + "Gripper %s enabled: width %.3f..%.3f m, velocity %.3f m/s, force limit %.1f N.", + params.name, + self._min_width, + self._max_width, + self._velocity, + self._force_limit, + ) + + def get_config(self) -> FlexivGripperConfig: + return self._cfg + + def get_state(self) -> FlexivGripperState: + return FlexivGripperState(self._states()) + + def get_normalized_width(self) -> float: + width = (self._states().width - self._min_width) / (self._max_width - self._min_width) + return float(np.clip(width, 0.0, 1.0)) + + def set_normalized_width(self, width: float, force: float = 0) -> None: + if not (0 <= width <= 1): + msg = f"Width must be between 0 and 1, got {width}." + raise ValueError(msg) + target = self._min_width + width * (self._max_width - self._min_width) + self._closing = target < self._states().width + self._gripper.Move(target, self._velocity, force if force > 0 else self._force_limit) + if not self._cfg.async_control: + self._wait_for_width(target) + + def grasp(self) -> None: + if self._cfg.force_control_grasp: + self._closing = True + self._gripper.Grasp(self._grasp_force) + if not self._cfg.async_control: + self._wait_for_width(self._min_width) + return + self.set_normalized_width(0.0, force=self._grasp_force) + + def open(self) -> None: + self.set_normalized_width(1.0) + + def shut(self) -> None: + self.set_normalized_width(0.0) + + def reset(self) -> None: + self.open() + + def is_grasped(self) -> bool: + """True if the fingers stopped on something after a closing command, i.e. before reaching the closed width.""" + states = self._states() + return self._closing and not states.is_moving and states.width > self._min_width + self._cfg.width_tolerance + + def close(self) -> None: + """Stops the fingers, the robot connection belongs to the robot and is closed there.""" + try: + self._gripper.Stop() + except Exception as e: + logger.warning("Stopping the gripper on close failed: %s", e) + + # ------------------------------------------------------------------ internals + + def _states(self) -> typing.Any: + return self._gripper.states() + + def _initialize(self) -> None: + logger.info("Initializing gripper %s, the fingers will move.", self._cfg.device_name) + self._gripper.Init() + # Init returns once the request is delivered, the sequence itself takes a few seconds. + deadline = time.time() + self._cfg.init_timeout + time.sleep(1.0) + while time.time() < deadline and self._states().is_moving: + time.sleep(self.POLL_INTERVAL) + if self._states().is_moving: + logger.warning("Gripper initialization did not finish within %.1f s.", self._cfg.init_timeout) + + def _wait_for_width(self, target: float) -> None: + deadline = time.time() + self._cfg.command_timeout + was_moving = False + while time.time() < deadline: + states = self._states() + if abs(states.width - target) < self._cfg.width_tolerance: + return + if was_moving and not states.is_moving: + # The fingers stopped before reaching the target, e.g. on an object. + return + was_moving = was_moving or states.is_moving + time.sleep(self.POLL_INTERVAL) + logger.warning("Gripper width %.3f m not reached within %.1f s.", target, self._cfg.command_timeout) diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/scripts/__init__.py b/extensions/rcs_flexiv/src/rcs_flexiv/scripts/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py b/extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py new file mode 100644 index 00000000..245b2653 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py @@ -0,0 +1,117 @@ +"""Script for testing a Flexiv arm connection, sync and async control, stiffness changes and the gripper. + +Usage: python -m rcs_flexiv.scripts.test_robot [] + +Keep the workspace clear, the arm and the gripper move. The robot has to be in auto mode with the +E-stop released, see the extension README. +""" + +import sys +import time + +import numpy as np +import rcs +from rcs import common + +from rcs_flexiv.hw import ( + Flexiv, + FlexivConfig, + FlexivControlMode, + FlexivGripper, + FlexivGripperConfig, +) + + +def main() -> None: + if len(sys.argv) < 2: + print(__doc__) + sys.exit(1) + robot_sn = sys.argv[1] + gripper_device = sys.argv[2] if len(sys.argv) > 2 else None + + robot_type = common.RobotType("Rizon4S") + gripper_type = common.GripperType("FlexivGrav") + robot_config = FlexivConfig( + robot_sn=robot_sn, + control_mode=FlexivControlMode.JOINT_IMPEDANCE, + async_control=False, + robot_type=robot_type, + kinematic_model_path=rcs.ROBOTS[robot_type].mjcf_model_path, + attachment_site=rcs.ROBOTS[robot_type].attachment_site, + dof=rcs.ROBOTS[robot_type].dof, + joint_limits=rcs.ROBOTS[robot_type].joint_limits, + q_home=rcs.ROBOTS[robot_type].q_home, + tcp_offset=rcs.GRIPPER_TCP_OFFSETS[gripper_type], + ) + ik = rcs.common.Pin(robot_config.kinematic_model_path, robot_config.attachment_site) + robot = Flexiv(robot_config, ik) + + print(f"Joint positions: {robot.get_joint_position()}") + print(f"Flange pose in the base frame: {robot.get_cartesian_flange_position()}") + print(f"Robot world frame relative to the base frame: {robot.world_from_base}") + print(f"Nominal joint stiffness: {robot.nominal_joint_stiffness}") + print(f"Nominal cartesian stiffness: {robot.nominal_cartesian_stiffness}") + + input("Press Enter to move to the home position...") + robot.move_home() + + input("Press Enter for a small synchronous joint move...") + target_q = robot.get_joint_position() + target_q[0] += 0.2 + start = time.time() + robot.set_joint_position(target_q) + print(f"sync command returned after {time.time() - start:.3f} s at {robot.get_joint_position()}") + + input("Press Enter for the same move asynchronously...") + cfg = robot.get_config() + cfg.async_control = True + robot.set_config(cfg) + target_q[0] -= 0.2 + start = time.time() + robot.set_joint_position(target_q) + print(f"async command returned after {time.time() - start:.3f} s at {robot.get_joint_position()}") + time.sleep(1.5) + print(f"1.5 seconds later: {robot.get_joint_position()}") + + input("Press Enter to halve the joint stiffness (push the arm to feel it), Enter again to restore...") + robot.set_joint_impedance(0.5 * robot.nominal_joint_stiffness) + input() + robot.set_joint_impedance(None) + + input("Press Enter for a small synchronous cartesian move (3 cm down) via the rcs IK...") + cfg.async_control = False + robot.set_config(cfg) + pose = robot.get_cartesian_position() + robot.set_cartesian_position( + common.Pose(translation=pose.translation() + np.array([0.0, 0.0, -0.03]), quaternion=pose.rotation_q()) + ) + print(f"cartesian position now: {robot.get_cartesian_position()}") + + input("Press Enter for the same move back up with the robot's cartesian impedance controller...") + cfg.control_mode = FlexivControlMode.CARTESIAN_IMPEDANCE + robot.set_config(cfg) + robot.set_cartesian_position(pose) + print(f"cartesian position now: {robot.get_cartesian_position()}") + cfg.control_mode = FlexivControlMode.JOINT_IMPEDANCE + robot.set_config(cfg) + + if gripper_device is not None: + answer = input( + "Trigger the gripper initialization (needed for the 48 V Grav, fingers move to both stops)? [y/N] " + ) + manual_init = answer.strip().lower() in ("y", "yes") + input("Press Enter to cycle the gripper...") + gripper = FlexivGripper( + FlexivGripperConfig(device_name=gripper_device, manual_init=manual_init, async_control=False), robot + ) + for width in (0.0, 1.0): + gripper.set_normalized_width(width) + print(f"commanded {width:.1f}, measured {gripper.get_normalized_width():.3f}") + gripper.close() + + robot.close() + print("done") + + +if __name__ == "__main__": + main() diff --git a/pyproject.toml b/pyproject.toml index 2079ea41..e6fd1a8f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -229,6 +229,10 @@ version_files = [ "extensions/rcs_yam/src/rcs_yam/__init__.py:__version__", "extensions/rcs_yam/pyproject.toml:\"rcs-core>=(.*)\"", + "extensions/rcs_flexiv/pyproject.toml:version", + "extensions/rcs_flexiv/src/rcs_flexiv/__init__.py:__version__", + "extensions/rcs_flexiv/pyproject.toml:\"rcs-core>=(.*)\"", + "extensions/rcs_tacto/pyproject.toml:version", "extensions/rcs_tacto/src/rcs_tacto/__init__.py:__version__", "extensions/rcs_tacto/pyproject.toml:\"rcs-core>=(.*)\"", diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py index d8ed06a9..66aba787 100644 --- a/python/rcs/__init__.py +++ b/python/rcs/__init__.py @@ -194,12 +194,26 @@ class RobotMetaConfig: ), attachment_site="tcp_site", ), + common.RobotType("Rizon4S"): RobotMetaConfig( + mjcf_model_path="assets/robots/rizon4s/rizon4s.xml", + dof=7, + # flange pointing straight down (joint2 - joint4 + joint6 = -pi/2), about 0.56 m in front of + # and 0.46 m above the base + q_home=np.array([0.0, -0.2, 0.0, 1.8, 0.0, 2.0 - np.pi / 2, 0.0]), + joint_limits=np.array( + [ + [-2.8798, -2.3562, -3.0543, -1.9548, -3.0543, -1.4835, -3.0543], + [2.8798, 2.3562, 3.0543, 2.7751, 3.0543, 4.6251, 3.0543], + ] + ), + ), } GRIPPER_PATHS: dict[common.GripperType, str] = { common.GripperType.FrankaHand: "assets/grippers/franka_hand/franka_hand.xml", common.GripperType("Robotiq2F85"): "assets/grippers/robotiq_2f85/robotiq_2f85.xml", + common.GripperType("FlexivGrav"): "assets/grippers/flexiv_grav/flexiv_grav.xml", } GRIPPER_TCP_OFFSETS: dict[common.GripperType, common.Pose] = { @@ -208,6 +222,9 @@ class RobotMetaConfig: # The yam gripper is part of the robot mjcf, hence it needs no entry in GRIPPER_PATHS # and no mount offset, only the offset from the flange to the point between the fingers. common.GripperType("Yam"): common.Pose(translation=np.array([0.0, 0.0, 0.1347])), + # The "grav_tcp" frame of Flexiv's URDF, which Flexiv's own software uses as TCP. It sits roughly at the + # pad center of the fully open gripper; the closed finger tips ("closed_fingers_tcp") are at 0.2 m. + common.GripperType("FlexivGrav"): common.Pose(translation=np.array([0.0, 0.0, 0.15])), } GRIPPER_MOUNT_OFFSETS: dict[common.GripperType, common.Pose] = { @@ -217,6 +234,9 @@ class RobotMetaConfig: common.GripperType("Robotiq2F85"): common.Pose( translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 0.7071068, 0.7071068]) ), + common.GripperType("FlexivGrav"): common.Pose( + translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 1.0, 0.0]) + ), } SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"} @@ -226,6 +246,8 @@ class RobotMetaConfig: "fr3_single_mount": "assets/objects/fr3_single_mount/fr3_single_mount.xml", "robotiq_d405_mount": "assets/objects/robotiq_d405_mount/robotiq_d405_mount.xml", "droid_wrist_mount": "assets/objects/droid_wrist_mount/droid_wrist_mount.xml", + "rizon_grav_d405_plate_mount": "assets/objects/rizon_grav_d405_plate_mount/rizon_grav_d405_plate_mount.xml", + "rizon_d405_wrist_mount": "assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml", "green_cuboid": "assets/objects/green_cuboid/green_cuboid.xml", "green_cube": "assets/objects/green_cube/green_cube.xml", "red_cube": "assets/objects/red_cube/red_cube.xml", @@ -245,7 +267,7 @@ class RobotMetaConfig: translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 0.7071068, 0.7071068]) ), "FR3_ROBOTIQ_WRIST_D405_CAMERA": common.Pose( - translation=np.array([0.060, 0.0, 0.0665]), rpy_vector=np.array([np.pi, -np.pi * 11 / 18, 0]) + translation=np.array([0.060, 0.0, 0.0665]), rpy_vector=np.array([-np.pi/2, -np.pi * 11 / 18, 0]) ), "FR3_DUOMOUNT_HEIGHT_OFFSET": common.Pose( translation=np.array([0.0, 0.0, 0.342]), quaternion=np.array([0.0, 0.0, 0.0, 1.0]) @@ -257,10 +279,36 @@ class RobotMetaConfig: "FR3_DUOMOUNT_RIGHT_ROBOT": common.Pose( translation=np.array([0.0, -0.05018, 0.0]), quaternion=np.array([0.436978, 0.0225312, 0.243326, 0.865641]) ), + # Rizon 4s duo: bases 0.3 m apart in y, each tilted 45 degrees about x away from the other arm (the right arm + # by +45 degrees, the left one by -45 degrees, like the FR3 duo), and the shared frame lifted above the floor so + # that the tilted bases clear the ground plane. + "RIZON4S_DUO_LEFT_ROBOT": common.Pose( + translation=np.array([0.0, 0.15, 0.0]), rpy_vector=np.array([np.deg2rad(-45), 0.0, 0.0]) + ), + "RIZON4S_DUO_RIGHT_ROBOT": common.Pose( + translation=np.array([0.0, -0.15, 0.0]), rpy_vector=np.array([np.deg2rad(45), 0.0, 0.0]) + ), + "RIZON4S_DUO_HEIGHT_OFFSET": common.Pose(translation=np.array([0.0, 0.0, 0.3])), "FR3_DUOMOUNT_ZEDMINI_CAMERA": common.Pose( translation=np.array([0.0113, -0.0245, 0.695]), rpy_vector=np.array([0.0, np.pi * 41 / 180, 0.0]), ), + # Rizon 4s D405 wrist camera (assets/objects/rizon_d405_wrist_mount): a rail screwed to the accessory pocket on + # the front of the wrist link carries the camera on the -x side of the gripper (facing away from the robot in the + # home pose), optical axis tilted 20 deg towards the fingers, image up pointing away from the gripper so that the + # fingers show at the bottom of the image, stereo baseline (and USB port) along flange y. Both poses are in the + # flange (attachment-site) frame; gripper and TCP are unaffected. + "RIZON_D405_WRIST_MOUNT": common.Pose(), + "RIZON_D405_WRIST_CAMERA": common.Pose( + translation=np.array([-0.065, 0.0, 0.052]), rpy_vector=np.array([np.pi / 2, -np.pi * 70 / 180, 0.0]) + ), + # Alternative spacer plate variant (assets/objects/rizon_grav_d405_plate_mount) that sits between flange and + # Grav, so the gripper and its TCP have to move out by the plate thickness. + "RIZON_GRAV_D405_PLATE_MOUNT": common.Pose(), + "RIZON_GRAV_D405_PLATE_MOUNT_GRIPPER_OFFSET": common.Pose(translation=np.array([0.0, 0.0, 0.008])), + "RIZON_GRAV_D405_PLATE_MOUNT_CAMERA": common.Pose( + translation=np.array([-0.065, 0.0, 0.060]), rpy_vector=np.array([np.pi / 2, -np.pi * 70 / 180, 0.0]) + ), } HOME_POSITIONS = { @@ -270,6 +318,9 @@ class RobotMetaConfig: "FR3_DUO_LEFT": np.array([0.48797692, -0.57224476, -0.58536988, -2.57958827, 0.86400183, 2.0530809, -0.85965005]), "FR3_DUO_RIGHT": np.array([-0.48797676, -0.57224472, 0.58536959, -2.57958788, -0.86400148, 2.05308196, 0.85965057]), "FR3_DROID": np.array([0.0, -np.pi / 4, 0.0, -3 * np.pi / 4, 0.0, np.pi / 2, 0.0]), + # IK solutions for the Rizon 4s duo with the TCP at [0.40, +-0.20, 0.10] in the shared base frame, pointing down + "RIZON4S_DUO_LEFT": np.array([-0.355, -0.444, 0.072, 2.063, 0.834, 0.485, -0.862]), + "RIZON4S_DUO_RIGHT": np.array([0.476, -0.44, 0.168, 2.35, -0.785, 0.498, 1.29]), } # Append RCS package prefix to all asset paths diff --git a/python/rcs/envs/configs.py b/python/rcs/envs/configs.py index da792e64..c878dd19 100644 --- a/python/rcs/envs/configs.py +++ b/python/rcs/envs/configs.py @@ -625,6 +625,144 @@ def config(self) -> SimEnvCreatorConfig: return cfg +class EmptyWorldRizon4S(EmptyWorldFR3): + """Flexiv Rizon 4s with the Flexiv Grav (GN-01) gripper mounted on the flange.""" + + def config(self) -> SimEnvCreatorConfig: + rt = RobotType("Rizon4S") + cfg = super().config() + lead_robot_name = self.lead_robot_name(cfg) + + robot_cfg = cfg.robot_cfgs[lead_robot_name] + robot_cfg.robot_type = rt + robot_cfg.tcp_offset = GRIPPER_TCP_OFFSETS[GripperType("FlexivGrav")] + robot_cfg.attachment_site = rcs.ROBOTS[rt].attachment_site + robot_cfg.kinematic_model_path = rcs.ROBOTS[rt].mjcf_model_path + robot_cfg.arm_collision_geoms = [] + robot_cfg.joints = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + robot_cfg.actuators = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + robot_cfg.dof = rcs.ROBOTS[rt].dof + robot_cfg.joint_limits = rcs.ROBOTS[rt].joint_limits + robot_cfg.q_home = rcs.ROBOTS[rt].q_home + robot_cfg.base = "base" + + assert cfg.gripper_cfgs is not None + gripper_cfg = cfg.gripper_cfgs[lead_robot_name] + gripper_cfg.gripper_type = GripperType("FlexivGrav") + # The actuator is commanded in finger opening width (0 m closed, 0.1 m open). + gripper_cfg.actuator = "fingers_actuator" + gripper_cfg.min_actuator_width = 0.0 + gripper_cfg.max_actuator_width = 0.1 + # Width is read back from the driving knuckle joints, whose angle maps linearly to the width. + gripper_cfg.joints = ["left_outer_knuckle_joint", "right_outer_knuckle_joint"] + gripper_cfg.min_joint_width = -0.155 + gripper_cfg.max_joint_width = 0.7854 + gripper_cfg.collision_geoms = ["left_pad1", "left_pad2", "right_pad1", "right_pad2"] + gripper_cfg.collision_geoms_fingers = ["left_pad1", "left_pad2", "right_pad1", "right_pad2"] + + cfg.gripper_offsets = {lead_robot_name: GRIPPER_MOUNT_OFFSETS[GripperType("FlexivGrav")]} + # D405 wrist camera on a bracket clamped to the wrist link, see assets/objects/rizon_d405_wrist_mount + cfg.robot_frame_objects = { + lead_robot_name: { + "d405_mount": ( + OBJECT_PATHS["rizon_d405_wrist_mount"], + DEFAULT_TRANSFORMS["RIZON_D405_WRIST_MOUNT"], + ) + }, + } + cfg.camera_cfgs = { + "wrist": SimCameraConfig( + identifier="wrist", + type=CameraType.fixed, + resolution_width=1280, + resolution_height=720, + frame_rate=30, + ), + } + cfg.camera_adds = { + "wrist": CameraAdderConfig( + xml_path=CAMERA_PATHS["d405"], + offset=DEFAULT_TRANSFORMS["RIZON_D405_WRIST_CAMERA"], + robot_name=lead_robot_name, + ), + } + + return cfg + + +class EmptyWorldRizon4SDuo(SimEnvCreator): + """Two Flexiv Rizon 4s with Grav grippers, 0.3 m apart in y and each tilted 45 degrees about x away from the other + (right arm +45 degrees, left arm -45 degrees). + + The shared base frame sits between the two bases, actions and observations are expressed in it. + """ + + def config(self) -> SimEnvCreatorConfig: + single = EmptyWorldRizon4S() + single_cfg = single.config() + base_robot_cfg = single_cfg.robot_cfgs[single.lead_robot_name(single_cfg)] + assert single_cfg.gripper_cfgs is not None + base_gripper_cfg = single_cfg.gripper_cfgs[single.lead_robot_name(single_cfg)] + + robot_cfgs: dict[str, SimRobotConfig] = {} + gripper_cfgs: dict[str, SimGripperConfig] = {} + for name in ("left", "right"): + robot_cfg = copy.deepcopy(base_robot_cfg) + robot_cfg.q_home = rcs.HOME_POSITIONS[f"RIZON4S_DUO_{name.upper()}"] + robot_cfgs[name] = robot_cfg + gripper_cfgs[name] = copy.deepcopy(base_gripper_cfg) + + grav_offset = GRIPPER_MOUNT_OFFSETS[GripperType("FlexivGrav")] + # D405 wrist camera on its mount on each arm, see EmptyWorldRizon4S + robot_frame_objects = { + name: { + f"{name}_d405_mount": ( + OBJECT_PATHS["rizon_d405_wrist_mount"], + DEFAULT_TRANSFORMS["RIZON_D405_WRIST_MOUNT"], + ) + } + for name in ("left", "right") + } + camera_cfgs = { + f"{name}_wrist": SimCameraConfig( + identifier=f"{name}_wrist", + type=CameraType.fixed, + resolution_width=1280, + resolution_height=720, + frame_rate=30, + ) + for name in ("left", "right") + } + camera_adds = { + f"{name}_wrist": CameraAdderConfig( + xml_path=CAMERA_PATHS["d405"], + offset=DEFAULT_TRANSFORMS["RIZON_D405_WRIST_CAMERA"], + robot_name=name, + ) + for name in ("left", "right") + } + return SimEnvCreatorConfig( + robot_cfgs=robot_cfgs, + gripper_cfgs=gripper_cfgs, + gripper_offsets={"left": grav_offset, "right": grav_offset}, + sim_cfg=SimConfig(async_control=False, realtime=True, frequency=1, max_convergence_steps=500), + control_mode=ControlMode.CARTESIAN_TQuat, + scene=SCENE_PATHS["empty_world"], + robot_frame_objects=robot_frame_objects, + camera_cfgs=camera_cfgs, + camera_adds=camera_adds, + relative_to=RelativeTo.LAST_STEP, + robot_to_shared_base_frame={ + "left": DEFAULT_TRANSFORMS["RIZON4S_DUO_LEFT_ROBOT"], + "right": DEFAULT_TRANSFORMS["RIZON4S_DUO_RIGHT_ROBOT"], + }, + shared_base_frame_to_root_frame=DEFAULT_TRANSFORMS["RIZON4S_DUO_HEIGHT_OFFSET"], + wrapper_cfg=WrapperConfig(binary_gripper=False, home_on_reset=True), + # the tilted arms sag under gravity with the mjcf's position gains, like the FR3 duo they are compensated + add_gravcomp=True, + ) + + gym.register(id="rcs/fr3", entry_point=EmptyWorldFR3()) gym.register(id="rcs/duo", entry_point=EmptyWorldFR3Duo()) gym.register(id="rcs/droid", entry_point=EmptyWorldDroid()) @@ -632,10 +770,12 @@ def config(self) -> SimEnvCreatorConfig: gym.register(id="rcs/xarm7", entry_point=EmptyWorldXArm7()) gym.register(id="rcs/so101", entry_point=EmptyWorldSO101()) gym.register(id="rcs/yam", entry_point=EmptyWorldYam()) +gym.register(id="rcs/rizon4s", entry_point=EmptyWorldRizon4S()) +gym.register(id="rcs/rizon4s_duo", entry_point=EmptyWorldRizon4SDuo()) if __name__ == "__main__": - env = gym.make("rcs/yam") + env = gym.make("rcs/duo") obs, info = env.reset() print(obs) # Duo diff --git a/python/tests/test_kinematics.py b/python/tests/test_kinematics.py index b530303a..84d6bebc 100644 --- a/python/tests/test_kinematics.py +++ b/python/tests/test_kinematics.py @@ -12,6 +12,7 @@ common.RobotType("UR5e"), common.RobotType("SO101"), common.RobotType("Yam"), + common.RobotType("Rizon4S"), ]